doi: 10.4304/jsw.6.6.1075-1081
Lateral Control for Autonomous Parking System with Fractional Order Controller
- College of Mechatronic Engineering and Automation, National University of Defense Technology Changsha, Hunan, China
Abstract
Lateral control in autonomous parking system, which is always at low speed, simultaneously requiring very small following error, is a difficult problem to resolve. To address this problem, this paper introduces the Fractional order <em>PI<sup>λ</sup>D<sup>μ</sup></em> controller. What’s more, to address the parameters tuning problem in design of the controller, an improved genetic algorithm is adopted. With the proposed method, simulation and real vehicle experiments are carried out. Results show that fractional order <em>PI<sup>λ</sup>D<sup>μ</sup></em> controller can manage the vehicle to follow the planned trajectory preciously and that stably and robustly in autonomous parking process, which is at low speed.
Keywords
- Autonomous
- Parking;
- Fractional
- Order
- <em
How to Cite
Qingyang Chen, Tongtong Chen, Huiying Yu, Jinze Song, and Daxue Liu, "Lateral Control for Autonomous Parking System with Fractional Order Controller," Journal of Software, vol. 6, no. 6, pp. 1075-1081, 2011. https://doi.org/ 10.4304/jsw.6.6.1075-1081
Copyright & License
Copyright © 2011 by the authors. This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).