Volume 6 Number 6 (Jun. 2011)
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JSW 2011 Vol.6(6): 1075-1081 ISSN: 1796-217X
doi: 10.4304/jsw.6.6.1075-1081

Lateral Control for Autonomous Parking System with Fractional Order Controller

Qingyang Chen, Tongtong Chen, Huiying Yu, Jinze Song, Daxue Liu
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 PIλDμ 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 PIλDμ 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.

Index Terms—Autonomous Parking; Fractional Order PIλDμ ; Genetic Algorithm; Lateral Control

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Cite: Qingyang Chen, Tongtong Chen, Huiying Yu, Jinze Song, Daxue Liu, "Lateral Control for Autonomous Parking System with Fractional Order Controller," Journal of Software vol. 6, no. 6, pp. 1075-1081, 2011.

General Information

ISSN: 1796-217X (Online)
Frequency: Monthly
Editor-in-Chief: Prof. Antanas Verikas
Executive Editor: Ms. Yoyo Y. Zhou
Abstracting/ Indexing: DBLP, EBSCO, ProQuest, INSPEC, ULRICH's Periodicals Directory, WorldCat, etc
E-mail: jsw@iap.org
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