A PROPOSAL FOR PARAMETER TUNING IN FRACTIONAL MRAC. APPLICATION TO THE LATERAL CONTROL OF AN AUTONOMOUS VEHICLE

A proposal for tuning the parameters in a fractional MRAC scheme is presented in this paper. The method is applied to the lateral control of an autonomous vehicle. We study the influence of the parameters on the system stability and in which manner these parameters change the system performance, both on time and frecuency domains. Integer and fractional order controllers are compared in several situations.