Fractional-Order Generalized Predictive Control: Application for Low-Speed Control of Gasoline-Propelled Cars

Abstract

There is an increasing interest in using fractional calculus applied to control theory generalizingclassicalcontrol strategies as the PID controller and developing new ones with the intention of taking advantage of characteristics supplied by this mathematical tool for the controller definition. In this work, the fractional generalization of the successful and spread control strategy known as model predictive control is applied to drive autonomously a gasoline-propelled vehicle at low speeds. The vehicle is a Citroën C3 Pluriel that was modified to act over the throttle and brake pedals. Its highly nonlinear dynamics are an excellent test bed for applying beneficial characteristics of fractional predictive formulation to compensate unmodeled dynamics and external disturbances.