Evaluation of a vehicle directional control with a fractional order PDμ controller

Abstract

In this paper, a novel controller, the fractional order PD μ controller, is designed to improve the performance of the driver-vehicle system. First, fractional calculus and fractional order PI λ D μ controller are introduced. A control algorithm for vehicle directional control using the fractional order PD μ controller is then presented. Based on preview-follower theory, the on-line tuning method of the fractional order PD μ controller is designed. By comparing simulated and experimental results, the validity and robustness of the proposed fractional order PD μ controller in the closed loop system are verified. Finally, comprehensive evaluations are performed between the systems with the fractional order PD μ controller and with an integer PD controller. The results demonstrate that the use of the fractional order controller leads to an improvement of the performance of the driver-vehicle system.

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