A FRACTIONAL ADAPTATION SCHEME FOR LATERAL CONTROL OF AN AGV

The lateral control of an autonomous guided vehicle (AGV) is highly in‡uenced both for the longitudinal speed and the position input command (magnitude of the reference signal) of the vehicle. For that reason, a suitable strategy to govern the vehicle would be to use an adaptive and robust controller. In this paper an adaptive scheme is proposed which combines a model reference approach and a fractional order adjustment rule for a feedforward gain adjustment. Two parameters can be tuned to obtain robustness against speed and magnitude of the reference signal variations: adaptation gain, and derivative order of the adjustment rule. A model is developed for the vehicle, the design procedure is exposed, and simulation results are obtained to show the advantages of using the proposed fractional adaptation scheme.