Study and Evaluation of Driver-Vehicle System with Fractional Order PDμ Controller

A novel controller, fractional order PD^μ controller, is proposed to improve the performances of the driver-vehicle system in this paper. At first, the fractional calculus and the fractional order PI^λD^μ controller are introduced. And then a control algorithm of vehicle directional control with fractional order PD^μ controller is presented. Based on preview-follower theory, the on-line tuning method of fractional order PD^μ controller is designed. By the comparisons of simulated and experimental results, the validity and reliability of fractional order PD^μ controller in the closed loop system is verified. Finally, the comprehensive evaluations are performed between the proposed system and system with integer PD controller. The results demonstrate that the use of fractional order controller leads to the improvement of the performances of the driver-vehicle system.