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Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller.

Daniel Acosta1, Bibiana Fariña1, Jonay Toledo1

  • 1Computer Science and System Department, Universidad de La Laguna, 38200 Canary Island, Spain.

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Summary
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A new fractional controller improves autonomous vehicle speed control. This advanced system reduces errors in following changing speed commands, outperforming traditional PID controllers in real-world tests.

Keywords:
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Area of Science:

  • Autonomous Vehicle Control
  • Control Systems Engineering
  • Robotics

Background:

  • Traditional Proportional-Integral-Derivative (PID) controllers struggle with ramp references in autonomous vehicles, leading to significant deviations between desired and actual behavior.
  • Limitations of PID controllers in accurately tracking dynamic speed changes necessitate advanced control strategies.

Purpose of the Study:

  • To investigate the performance of a fractional-order controller for the low-level velocity control of autonomous vehicles.
  • To address the inherent error in following ramp references characteristic of traditional PID controllers.
  • To develop and validate a fractional controller capable of achieving zero stationary error for variable speed references.

Main Methods:

  • Analysis of traditional PID controller performance for autonomous vehicle velocity control.
  • Development and theoretical study of a fractional-order controller, including stability analysis concerning fractional parameters.
  • Design and experimental testing of the fractional controller on a real autonomous vehicle prototype.
  • Comparative performance evaluation against a standard PID controller.

Main Results:

  • The fractional controller demonstrates faster responses for short time scales compared to non-fractional PI controllers.
  • Autonomous vehicles equipped with the fractional controller can follow variable speed references with zero stationary error.
  • Experimental results show the fractional PID controller significantly reduces the error between actual and desired vehicle behavior compared to the standard PID controller.
  • The designed fractional PID controller outperformed the standard PID controller on a real prototype.

Conclusions:

  • Fractional-order control offers a viable enhancement for autonomous vehicle velocity control systems.
  • The proposed fractional controller effectively mitigates steady-state errors and improves tracking accuracy for dynamic speed profiles.
  • Experimental validation confirms the superiority of the fractional PID controller over traditional PID methods in practical autonomous driving scenarios.