Path Tracking Using Fractional Order Extremum Seeking Controller for Autonomous Ground Vehicle 2017-01-0094

In recent years, navigation and guidance of autonomous vehicles get daily increasing attention from people in both research and manufacturing due to its potential applications such as automated highways, urban transportation, etc. Leading automotive companies are looking for algorithms and control designs for vehicles to follow desired path. We proposed a novel control for autonomous vehicle where the classical extremum seeking scheme is modified to address the problem of path tracking of an autonomous ground vehicle. This technique utilizes a Fractional Order Extremum Seeking Controller (FO-ESC) in order to control a non-holonomic autonomous ground vehicle to track the behavior of the predefined reference path. The designed FO-ESC controller has shown the significant capability of the autonomous ground vehicle to track the desired path. We showed the performances of fractional order and integer order controller through simulation results.