A Numerical Implementation of Fractional-Order PID Controllers for Autonomous Vehicles

In the context of reaching best way to control movement autonomous cars linearly and angularly, making them more stable balanced on different roads ensuring that they avoid road obstacles, this manuscript chiefly aims reach optimal approach for a fractional-order PID controller (or PIγDρ-controller) instead already classical one used provide smooth automatic parking electrical cars. The PIγDρ-controller is based particle swarm optimization (PSO) algorithm its design, with two approximations: Oustaloup’s approximation continued fractional expansion (CFE) approximation. Our approaches using results PSO are compared was designed Cohen–Coon, Ziegler–Nichols bacteria foraging algorithms. scheme represented by proposed can system vehicle than controller.