Path tracking design by input/output Davidson-Cole transfer function

Autonomous vehicle navigation requires the integration of many technologies such as path tracking. In path tracking design, we must take into account the dynamic of actuators in order to reduce overshoots appearing for small displacements. It permits the generation of an optimal movement reference-input giving a minimum path completion time, taking into consideration the maximum velocity, acceleration and jerk, and the bandwidth of the closed-loop on which the input is applied. Different methods were studied. The work presented here focuses on the fractional differentiation prefilter applied to nonvarying plants. A new approach to path tracking using fractional differentiation by direct optimization of an I/O transfer function was developed. Fractional differentiation is used here through a Davidson-Cole filter (DC) whose main property is having no overshoot on the plant output, whatever the values of its constitutive parameters. A simulation on a motor model validates the methodology.