The proposal of the forklift fall accidents prevention method using sliding mode control

Although instances of forklift trucks overturning due to accident are relatively rare, many people have lost their lives in such accidents. The center of gravity of the load placed on the fork is high, and since the moving forklift truck loses its balance and overturns, throwing the driver out of the cabin and burying him or her underneath the truck itself or the load, resulting in serious injury and sometimes death. Therefore, it is necessary to derive a controlling method that considers the forklift truck´s center of gravity in order to prevent load overturn. We have developed a dynamic model of a forklift truck and designed a control input using a sliding mode control method. The results of numeric simulation demonstrate the effectiveness of the designed control input.