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

2017-01-0094

03/28/2017

Event
WCX™ 17: SAE World Congress Experience
Authors Abstract
Content
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. We 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. We showed the performances of fractional order and integer order controller through simulation results.
Meta TagsDetails
DOI
https://doi.org/10.4271/2017-01-0094
Pages
6
Citation
Dadras, S., "Path Tracking Using Fractional Order Extremum Seeking Controller for Autonomous Ground Vehicle," SAE Technical Paper 2017-01-0094, 2017, https://doi.org/10.4271/2017-01-0094.
Additional Details
Publisher
Published
Mar 28, 2017
Product Code
2017-01-0094
Content Type
Technical Paper
Language
English