OTA-C Realization of PIλ Brake and Throttle Controllers for Autonomous Vehicles

Available fractional-order (PID mu)-D-lambda controllers introduced in the literature use discrete component realizations, where the approximations of fractional-order integration and differentiation operations is performed using appropriately configured RC networks. A novel re-configurable fractional-order PI lambda controller, suitable for brake and throttle control in an autonomous vehicle, is presented in this paper. The employed active elements are Operational Transconductance Amplifiers (OTAs) while the emulation of the integration functions is performed using appropriately reconfigured integer-order OTAC topologies. The proposed scheme offers the following benefits: a resistorless realization, electronic tuning of integration characteristics, and capability for implementation in integrated form. Simulation results, obtained using the Cadence software and MOS transistor models provided by the AMS 0.35 mu m CMOS process confirm the correct operation of the introduced controller within the given specifications.