Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller

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 spee...

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Main Authors: Daniel Acosta, Bibiana Fariña, Jonay Toledo, Leopoldo Acosta
Format: Article
Language:English
Published: MDPI AG 2023-03-01
Series:Sensors
Subjects:
Online Access:https://www.mdpi.com/1424-8220/23/6/3191
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author Daniel Acosta
Bibiana Fariña
Jonay Toledo
Leopoldo Acosta
author_facet Daniel Acosta
Bibiana Fariña
Jonay Toledo
Leopoldo Acosta
author_sort Daniel Acosta
collection DOAJ
description 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.
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spelling doaj.art-66c32fe1922e47489cf75805f8d11fbf2023-11-17T13:47:12ZengMDPI AGSensors1424-82202023-03-01236319110.3390/s23063191Improving Mobile Robot Maneuver Performance Using Fractional-Order ControllerDaniel Acosta0Bibiana Fariña1Jonay Toledo2Leopoldo Acosta3Computer Science and System Department, Universidad de La Laguna, 38200 Canary Island, SpainComputer Science and System Department, Universidad de La Laguna, 38200 Canary Island, SpainComputer Science and System Department, Universidad de La Laguna, 38200 Canary Island, SpainComputer Science and System Department, Universidad de La Laguna, 38200 Canary Island, SpainIn 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.https://www.mdpi.com/1424-8220/23/6/3191fractional controlautonomous vehiclerobotics
spellingShingle Daniel Acosta
Bibiana Fariña
Jonay Toledo
Leopoldo Acosta
Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller
Sensors
fractional control
autonomous vehicle
robotics
title Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller
title_full Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller
title_fullStr Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller
title_full_unstemmed Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller
title_short Improving Mobile Robot Maneuver Performance Using Fractional-Order Controller
title_sort improving mobile robot maneuver performance using fractional order controller
topic fractional control
autonomous vehicle
robotics
url https://www.mdpi.com/1424-8220/23/6/3191
work_keys_str_mv AT danielacosta improvingmobilerobotmaneuverperformanceusingfractionalordercontroller
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AT jonaytoledo improvingmobilerobotmaneuverperformanceusingfractionalordercontroller
AT leopoldoacosta improvingmobilerobotmaneuverperformanceusingfractionalordercontroller