A combined backstepping and fractional-order PID controller to trajectory tracking of mobile robots

Figures & data

Figure 1. Modelling of differential-drive mobile robot.

Figure 2. Control system for the trajectory tracking of DDMR.

Figure 3. Dynamic controller of DDMR based on FOPID.

Figure 4. Optimization of control system based on BSO.

Figure 5. Trajectory tracking result based on PID controller (no skidding and sliding).

Figure 6. Trajectory tracking result based on PI${}^{\lambda }$D${}^{\mu }$ controller (no skidding and sliding).

Figure 7. Comparison of trajectory tracking errors (no skidding and sliding).

Figure 8. Trajectory tracking result based on PID controller (with skidding and sliding).

Figure 9. Trajectory tracking result based on PI${}^{\lambda }$D${}^{\mu }$ controller (with skidding and sliding).

Figure 10. Comparison of trajectory tracking errors (with skidding and sliding).