标题： 基于混合分数阶控制器的自动驾驶车辆低速控制 显示英文标题

标题： Low Speed Control of an Autonomous Vehicle Using a Hybrid Fractional Order Controller

摘要： 高度非线性的车辆动力学在自动驾驶系统中起着重要作用，尤其是在非常低速的拥堵交通情况下。 由于这一事实，为了确保导航过程中的安全性，需要精确的控制器。 本文基于先前的分数阶速度控制，提出了一种改进的分数阶控制方法，用于控制一辆具有自动驾驶能力的商用雪铁龙C3原型车，在低速情况下考虑了车辆的混合模型。 具体来说，设计了两种不同的分数阶PI{\alpha }控制器，分别作用于油门和刹车踏板。 关于制动动作期间系统的不确定动力学，参数被调整以设计一个鲁棒控制器。 此外，系统被建模为混合分数阶微分包含。 给出了在实际赛道上获得的实验和仿真结果，以证明所提出的低速巡航控制策略的有效性。 显示英文摘要

摘要： Highly non-linear vehicle dynamics plays an important role in autonomous driving systems, especially in congested traffic situations at very low speeds. Due to this fact, accurate controllers are needed in order to ensure safety during navigation. In this paper, based on a previous fractional order speed control, an improved fractional order control is presented to control a commercial Citro\"en C3 prototype -which has automatic driving capabilities- at low speeds, which considers a hybrid model of the vehicle. Specifically, two different fractional order PI{\alpha} controllers are designed to act over the throttle and brake pedals, respectively. Concerning to the uncertain dynamics of the system during the brake action parameters are tuned to design a robust controller. In addition, the system is modeled as hybrid fractional order differential inclusions. Experimental and simulation results, obtained in a real circuit, are given to demonstrate the effectiveness of the proposed strategies for cruise control at low speeds.