Path Tracking Using Fractional Order Extremum Seeking Controller for Autonomous Ground Vehicle

In recent years, navigation and guidance of autonomous vehicles get daily increasing attention from people in both research and manufacturing due to its potential applications such as automated highways, urban transportation, etc. Leading automotive companies are looking for algorithms and control designs for vehicles to follow desired path. The authors proposed a novel control for autonomous vehicle where the classical extremum seeking scheme is modified to address the problem of path tracking of an autonomous ground vehicle. This technique utilizes a Fractional Order Extremum Seeking Controller (FO-ESC) in order to control a non-holonomic autonomous ground vehicle to track the behavior of the predefined reference path. The designed FO-ESC controller has shown the significant capability of the autonomous ground vehicle to track the desired path. The authors showed the performances of fractional order and integer order controller through simulation results.

Language

  • English

Media Info

Subject/Index Terms

Filing Info

  • Accession Number: 01645376
  • Record Type: Publication
  • Source Agency: SAE International
  • Report/Paper Numbers: 2017-01-0094
  • Files: TRIS, SAE
  • Created Date: Mar 30 2017 9:38AM