A Note of A Legless Capsubot Robot Control

Abstract

The presented paper contains comparison two controllers applied to the control system of capsubot robot. We show application of fractional order PID (FOPID) and integer order PID controllers with tuning parameters by particle swarm optimization (PSO). A criteria of optimization is Integral of Time multiplied by Absolute Error (ITAE). Finally, the comparison of obtained result for control system with standard PID and FOPID controllers of capsubot robot using PSO algorithm tuning in Matlab is presented. To the best of author's knowledge, no study has been conducted to investigate control systems with PID and FOPID controllers for presented type of capsubot.