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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MDPI AG
2023-03-01
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Series: | Sensors |
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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. |
first_indexed | 2024-03-11T05:55:18Z |
format | Article |
id | doaj.art-66c32fe1922e47489cf75805f8d11fbf |
institution | Directory Open Access Journal |
issn | 1424-8220 |
language | English |
last_indexed | 2024-03-11T05:55:18Z |
publishDate | 2023-03-01 |
publisher | MDPI AG |
record_format | Article |
series | Sensors |
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 AT bibianafarina improvingmobilerobotmaneuverperformanceusingfractionalordercontroller AT jonaytoledo improvingmobilerobotmaneuverperformanceusingfractionalordercontroller AT leopoldoacosta improvingmobilerobotmaneuverperformanceusingfractionalordercontroller |