FRACTIONAL ORDER PID CONTROL FOR IMPROVED LATERAL POSITION AND YAW ANGLE STABILITY FOR A VEHICLE

摘要

With the growing development of autonomous automobiles, vehicle lateral control has caught the attention of researchers recently. Active vehicle front steering can enhance the handling performance and stability of sudden/emergency maneuvers. This research investigates a fractional order proportional-integral-derivative (FOPID) control technique that ensures the regulation of vehicle lateral dynamics behavior with the presence of uncertain parameters. A method for analyzing vehicle dynamics with the "bicycle model" is presented. To validate the proposed control algorithm, the system is linearized and Matlab simulation is used. FOPID is compared to conventional control methods such as PID. Simulation results confirm that the proposed control scheme improves lateral displacement and yaw angle of the vehicle to maneuver safely and potentially prevent a collision from occurring.