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首页> 外文期刊>Journal of control, automation and electrical systems >Design of Fractional-Order Controller for Trajectory Tracking Control of a Non-holonomic Autonomous Ground Vehicle
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Design of Fractional-Order Controller for Trajectory Tracking Control of a Non-holonomic Autonomous Ground Vehicle

机译：非完整自主地面车辆轨迹跟踪控制的分数阶控制器设计

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摘要

A robust control technique is proposed to address the problem of trajectory tracking of an autonomous ground vehicle (AGV). This technique utilizes a fractional-order proportional integral derivative (FOPID) controller to control a non-holonomic autonomous ground vehicle to track the behaviour of the predefined reference path. Two FOPID controllers are designed to control the AGV's inputs. These inputs represent the torques that are used in order to manipulate the implemented model of the vehicle to obtain the actual path. The implemented model of the non-holonomic autonomous ground vehicle takes into consideration both of the kinematic and dynamic models. In additional, a particle swarm optimization (PSO) algorithm is used to optimize the FOPID controllers' parameters. These optimal tuned parameters of FOPID controllers minimize the cost function used in the algorithm. The effectiveness and validation of the proposed method have been verified through different patterns of reference paths using MATLAB-Simulink software package. The stability of fractional-order system is analysed. Also, the robustness of the system is conducted by adding disturbances due to friction of wheels during the vehicle motion. The obtained results of FOPID controller show the advantage and the performance of the technique in terms of minimizing path tracking error and the complement of the path following.
机译：提出了一种鲁棒的控制技术来解决自主地面车辆（AGV）的轨迹跟踪问题。该技术利用分数阶比例积分微分（FOPID）控制器来控制非完整自主地面车辆以跟踪预定义参考路径的行为。设计了两个FOPID控制器来控制AGV的输入。这些输入代表用于操纵车辆的已实现模型以获得实际路径的扭矩。非完整自主地面车辆的已实现模型同时考虑了运动学模型和动力学模型。另外，粒子群优化（PSO）算法用于优化FOPID控制器的参数。 FOPID控制器的这些最佳调整参数使算法中使用的成本函数最小化。使用MATLAB-Simulink软件包通过不同的参考路径模式验证了该方法的有效性和有效性。分析了分数阶系统的稳定性。而且，通过增加在车辆运动期间由于车轮的摩擦而引起的干扰来实现系统的鲁棒性。 FOPID控制器的获得结果显示了该技术的优势和性能，它可以最大程度地减少路径跟踪误差和路径跟踪的补充。

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