This paper describes the design, development, and implementation of a high-precision autonomous docking control system for a container truck based on a digital twin approach. The digital twin is used to simulate the dynamic behavior of the physical truck and to design the controller by providing a virtual platform to test, validate, and optimize control strategies and algorithms before their deployment in the actual system. To this end, a cascade of a nonlinear observer and an unscented Kalman filter is used to estimate the state variables of the physical truck for point-stabilization and orientation controls during the autonomous docking process. The docking motion involves two stabilization problems: point stabilization for smooth motion from the initial configuration to the docking slot, and orientation control to deliver the container truck to the final docking position with a margin of error of 5 cm for position and 0.0087 rad for orientation. The stability of both controllers is investigated, and simulations and experiments are conducted to demonstrate the accuracy of the proposed method in a container terminal environment.

中文翻译：

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利用数字孪生实现具有稳定控制的集装箱卡车自主对接

本文介绍了基于数字孪生方法的集装箱卡车高精度自主对接控制系统的设计、开发和实现。数字孪生用于模拟物理卡车的动态行为，并通过提供虚拟平台来设计控制器，以便在实际系统中部署控制策略和算法之前测试、验证和优化控制策略和算法。为此，使用非线性观测器和无迹卡尔曼滤波器的级联来估计物理卡车的状态变量，以在自主对接过程中进行点稳定和方向控制。对接运动涉及两个稳定问题：点稳定，以实现从初始配置到对接槽的平滑运动；方向控制，以将集装箱卡车运送到最终对接位置，位置误差幅度为 5 cm，方向误差幅度为 0.0087 rad 。研究了两种控制器的稳定性，并进行了仿真和实验，以证明该方法在集装箱码头环境中的准确性。