The study of fractional order controller with SLAM in the humanoid robot

DOI10.1155/2014/741351MaRDI QIDQ2248390zbMATH OpenOpenAlexWikidataFDO

Authors Shuhuan Wen, Xiao Chen, Yongsheng Zhao, Kamal Mohammed Othman, Ethan Zhang, A. B. Rad

Publication date 26 June 2014

Published in Advances in Mathematical Physics (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2014/741351

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: We present a fractional order PI controller (FOPI) with SLAM method, and the proposed method is used in the simulation of navigation of NAO humanoid robot from Aldebaran. We can discretize the transfer function by the Al-Alaoui generating function and then get the FOPI controller by Power Series Expansion (PSE). FOPI can be used as a correction part to reduce the accumulated error of SLAM. In the FOPI controller, the parameters (\(K_p\), \(K_i\), and \(\alpha\)) need to be tuned to obtain the best performance. Finally, we compare the results of position without controller and with PI controller, FOPI controller. The simulations show that the FOPI controller can reduce the error between the real position and estimated position. The proposed method is efficient and reliable for NAO navigation.

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Cited in

(1)

• An overview of FOPID controller design in v-domain: design methodologies and robust controller performance

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