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Path tracking of autonomous ground vehicle based on fractional order PID controller optimized by PSO

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posted on 2023-06-08, 21:25 authored by Auday Al-Mayyahi, William Wang, Phil Birch
An optimal control technique is proposed to address the problem of path tracking of an autonomous ground vehicle. 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 vehicle'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 newly 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.

History

Publication status

  • Published

File Version

  • Published version

Page range

109-114

Presentation Type

  • paper

Event name

2015 IEEE 13th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

Event location

Herl'any

Event type

conference

Event date

22-24 Jan. 2015

Book title

2015 IEEE 13th International Symposium on Applied Machine Intelligence and Informatics (SAMI)

Department affiliated with

  • Engineering and Design Publications

Full text available

  • No

Peer reviewed?

  • Yes

Legacy Posted Date

2015-07-06

First Compliant Deposit (FCD) Date

2015-07-06

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