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Abstract
In this paper, a trajectory tracking control algorithm is proposed based on the fractional-order PD (FOPD) controller for a Wheeled Mobile Robot (WMR). Firstly, an improved flat phase property is put forward as a robust controller tuning specification. This specification is capable of guaranteeing the flatness of the phase curve in a frequency interval, so the controlled system robustness can be improved. Then, the stabilization process is discussed with respect to the parameters of the FOPD controller through a visualized 3-dimensional surface, so both the stability and robustness of the controlled system can be guaranteed under the proposed controller. Furthermore, the implementation of the proposed robust FOPD controller is presented, which makes the control algorithm easy to be realized. At last, the effectiveness of the proposed trajectory tracking control algorithm is verified by the simulation and experiment results.
Highlights
Wheeled Mobile Robots (WMRs) are capable of working in different situations, including the inclement, dangerous, or even harmful ones
Without an effective control strategy, a predefined tracking strategy is hard to follow, especially in long distance or complicated environment tasks. e nonholomic properties, internal dynamics, feedback sensors of WMRs, and external load disturbance may bring in different kinds of immeasurable uncertainties [8]. erefore, more precise and robust trajectory tracking strategy will certainly help in improving the operation efficiency of WMRs
One of the most representative works is the PIλDμ controller proposed by Podlubny, which is an extension of the traditional PID controller with two extra order parameters [10]
Summary
Wheeled Mobile Robots (WMRs) are capable of working in different situations, including the inclement, dangerous, or even harmful ones. One of the most representative works is the PIλDμ controller proposed by Podlubny, which is an extension of the traditional PID controller with two extra order parameters [10]. Another kind of FOPID controller designed based on phase and magnitude margin frequency specifications is presented by Vinagre et al [12]. Through the extradifferential and integral order parameters, the design flexibility of the controller is increased so better dynamic performance and robustness may be achieved with this type of controller. The added fractional-order terms can help adjust the high-frequency and low-frequency characteristics of the closed-loop [23]
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