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

Format:

Conference/Event

Author/Creator:

Dadras, Dadras, author.

Conference Name:

WCX 17: SAE World Congress Experience (2017-04-04 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 2017

Summary:

AbstractIn 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, et cetera 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

Notes:

Vendor supplied data

Publisher Number:

2017-01-0094

Access Restriction:

Restricted for use by site license