Abstract
Here it is presented the use of Fractional Order Controllers (FOC) applied to the path-tracking problem in an autonomous electric vehicle. A lateral dynamic model of a industrial vehicle has been taken into account to implement conventional and Fractional Order Controllers. Several control schemes with these controllers have been simulated and compared . First, different controllers with similar parameters have been implemented and then they have been improved by using optimization methods. The preliminary results are presented here.
This work has been partially supported by Research Grant DPI 2002-04064C05-03 (MCYT).
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Suárez, J.I., Vinagre, B.M., Calderón, A.J., Monje, C.A., Chen, Y.Q. (2003). Using Fractional Calculus for Lateral and Longitudinal Control of Autonomous Vehicles. In: Moreno-Díaz, R., Pichler, F. (eds) Computer Aided Systems Theory - EUROCAST 2003. EUROCAST 2003. Lecture Notes in Computer Science, vol 2809. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-45210-2_31
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DOI: https://doi.org/10.1007/978-3-540-45210-2_31
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