Kinematic and Dynamic Tracking of Mobile robot Using Fractional Order Control

Abstract

This paper proposes kinematic and dynamic tracking of mobile robot using novel fractional order control. In the proposed article two different types of control algorithms are developed. First controller is designed for kinematic model of mobile robot. The designing of kinematic control is based on Lyapunov based fractional order control. Second controller is designed for dynamic model of mobile robot. For dynamic control fractional order backstepping control has been developed. Stability analysis is given using Lyapunov stability theory for both kinematic and dynamic controllers. Simulations are done for different types of generated path and comparative study is given to show the advantage of the proposed method over existing methods.