Design of Fractional-order PID Controller for Path Tracking of Wheeled Mobile Robot

摘要

In this paper, a path tracking control scheme based on the fractional PID controller is proposed to solve the path tracking problem of differential drive wheeled mobile robot. The velocity-based kinematic dynamic model are established for the differential drive wheeled mobile robot first, and then the preliminaries of fractional calculus theory and particle swarm algorithm (PSO) are introduced. Moreover, a mobile robot path tracking control system based on the fractional PID controller is designed, the controller parameters are optimized through an improved PSO algorithm. The simulation results can verify the superiority and effectiveness of the proposed control scheme.