Skip to main content
Springer Nature Link
Log in

Robust Path Tracking of Mobile Robot Using Fractional Order PID Controller

  • Conference paper
  • First Online:
The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019) (AMLTA 2019)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 921))

Abstract

This paper represents the control of the Pioneer-3 Mobile Robot as a complex non-linear system which provides an object for research nonlinear system kinematics and dynamics analysis. In this paper, the system modeling and simulation is divided into two main parts. The first part is the modeling and simulation using MATLAB and the second part is the whole mechanical design and its characteristics as a function of the motor speed and the torque depending on the system using Virtual Robot Environment Program (V-REP). The study uses Proportional–Integral–Derivative (PID) and Fractional Order PID (FOPID) controllers to obtain a robust controller for the system. The linear velocity loop controls the robot wheels speeds using the motor speed feedback signal from the encoder. The angular velocity control loop keeps the robot always in the accepted angle boundary using a six-degree of freedom gyroscope and accelerometer as a feedback signal. A state space model is obtained considering some assumptions and simplifications. This paper also studies and compares the results of two controllers PID and FOPID controllers from analysis perspectives with different optimization methods. The results demonstrated that the FOPID controller is superior in performance to the traditional PID controller.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  • Ammar, H.H., Azar, A.T., Tembi, T.D., Tony, K., Sosa, A.: Design and implementation of Fuzzy PID controller into multi agent smart library system prototype. In: International Conference on Advanced Machine Learning Technologies and Applications, pp. 127–137. Springer, Cham (2018)

    Google Scholar 

  • Araki, M., Taguchi, H.: Two-degree-of-freedom PID controllers. Int. J. Control Autom. Syst. 1(4), 401–411 (2003)

    Google Scholar 

  • Azar, A.T., Kumar, J., Kumar, V., Rana, K.P.S.: Control of a two link planar electrically-driven rigid robotic manipulator using fractional order SOFC. In: International Conference on Advanced Intelligent Systems and Informatics, pp. 57–68. Springer, Cham (2017)

    Google Scholar 

  • Azar, A.T., Radwan, A.G., Vaidyanathan, S.: Mathematical Techniques of Fractional Order Systems. Elsevier, Amsterdam (2018a). ISBN 9780128135921

    MATH  Google Scholar 

  • Azar, A.T., Radwan, A.G., Vaidyanathan, S.: Fractional Order Systems: Optimization, Control, Circuit Realizations and Applications. Elsevier, Amsterdam (2018b). ISBN 9780128161524

    Google Scholar 

  • Azar, A.T., Ammar, H.H., Mliki, H.: Fuzzy logic controller with color vision system tracking for mobile manipulator robot. In: International Conference on Advanced Machine Learning Technologies and Applications, pp. 138–146. Springer, Cham (2018c)

    Google Scholar 

  • Azar, A.T., Ammar, H.H., Barakat, M.H., Saleh, M.A., Abdelwahed, M.A.: Self-balancing robot modeling and control using two degree of freedom PID controller. In: International Conference on Advanced Intelligent Systems and Informatics, pp. 64–76. Springer, Cham (2018d)

    Google Scholar 

  • Azar, A.T., Serrano, F.E.: Fractional order sliding mode PID controller/observer for continuous nonlinear switched systems with PSO parameter tuning. In: International Conference on Advanced Machine Learning Technologies and Applications, pp. 13–22. Springer, Cham (2018)

    Google Scholar 

  • Ciszewski, M., Mitka, Ł., Buratowski, T., Giergiel, M.: Modeling and simulation of a tracked mobile inspection robot in Matlab and V-REP software. J. Autom. Mob. Robot. Intell. Syst. 11(2), 5–11 (2017)

    Google Scholar 

  • Coppelia Robotics (2018). http://www.coppeliarobotics.com/index.html. Accessed 04 Oct 2018

  • Das, S., Pan, I., Das, S.: Gupta A (2012) Improved model reduction and tuning of fractional-order PIλDμ controllers for analytical rule extraction with genetic programming. ISA Trans. 51(2), 237–261 (2012)

    Article  Google Scholar 

  • Kim, D.H., Oh, J.H.: Tracking control of a two-wheeled mobile robot using input-output linearization. Control Eng. Pract. 7(3), 369–374 (1999)

    Article  Google Scholar 

  • Kumar, J., Azar, A.T., Kumar, V., Rana, K.P.S.: Design of fractional order fuzzy sliding mode controller for nonlinear complex systems. In: Mathematical Techniques of Fractional Order Systems, pp. 249–282 (2018)

    Google Scholar 

  • Li, C., Zhang, N., Lai, X., Zhou, J., Xu, Y.: Design of a fractional-order PID controller for a pumped storage unit using a gravitational search algorithm based on the Cauchy and Gaussian mutation. Inf. Sci. 396, 162–181 (2017)

    Article  Google Scholar 

  • Podlubny, I.: Fractional-order systems and fractional-order controllers. Institute of Experimental Physics, Slovak Academy of Sciences, Kosice (1994)

    MATH  Google Scholar 

  • Podlubny, I.: Fractional Differential Equations. Academic Press, San Diego (1999)

    MATH  Google Scholar 

  • Spyros, G.T.: Introduction to mobile robot control. Elsevier, Amsterdam (2013). ISBN 978-0124170490

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Engineering and Applied Sciences, Nile University, Sheikh Zayed District, Juhayna Square, 6th of October City, Giza, 12588, Egypt

    Hossam Hassan Ammar & Ahmad Taher Azar

  2. Faculty of Computers and Information, Benha University, Benha, Egypt

    Ahmad Taher Azar

Authors
  1. Hossam Hassan Ammar
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Ahmad Taher Azar
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ahmad Taher Azar .

Editor information

Editors and Affiliations

  1. Faculty of Computers and Information, Cairo University, Giza, Egypt

    Aboul Ella Hassanien

  2. Faculty of Computers and Information, Benha University, Benha, Egypt

    Ahmad Taher Azar

  3. School of Computing, Science and Engineering, University of Salford, Salford, Greater Manchester, UK

    Tarek Gaber

  4. Department of Computer Science and Engineering, School of Computing and IT, Faculty of Engineering, Manipal University Jaipur, Jaipur, Rajasthan, India

    Roheet Bhatnagar

  5. Faculty of Computer and Information Science, Ain Shams University, Cairo, Egypt

    Mohamed F. Tolba

Rights and permissions

Reprints and permissions

Copyright information

© 2020 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Ammar, H.H., Azar, A.T. (2020). Robust Path Tracking of Mobile Robot Using Fractional Order PID Controller. In: Hassanien, A., Azar, A., Gaber, T., Bhatnagar, R., F. Tolba, M. (eds) The International Conference on Advanced Machine Learning Technologies and Applications (AMLTA2019). AMLTA 2019. Advances in Intelligent Systems and Computing, vol 921. Springer, Cham. https://doi.org/10.1007/978-3-030-14118-9_37

Download citation

Publish with us

Policies and ethics