Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller

Author:

Acosta Daniel1,Fariña Bibiana1ORCID,Toledo Jonay1,Acosta Leopoldo1

Affiliation:

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

Abstract

In this paper, the low-level velocity controller of an autonomous vehicle is studied. The performance of the traditional controller used in this kind of system, a PID, is analyzed. This kind of controller cannot follow ramp references without error, so when the reference implies a change in the speed, the vehicle cannot follow the proposed reference, and there is a significant difference between the actual and desired vehicle behaviors. A fractional controller is proposed which changes the ordinary dynamics allowing faster responses for small times, at the cost of slower responses for large times. The idea is to take advantage of this fact to follow fast setpoint changes with a smaller error than that obtained with a classic non-fractional PI controller. Using this controller, the vehicle can follow variable speed references with zero stationary error, significantly reducing the difference between reference and actual vehicle behavior. The paper presents the fractional controller, studies its stability in function of the fractional parameters, designs the controller, and tests its stability. The designed controller is tested on a real prototype, and its behavior is compared to a standard PID controller. The designed fractional PID controller overcomes the results of the standard PID controller.

Funder

Spanish Ministry of Science and Technology

Publisher

MDPI AG

Subject

Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry

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