Second-order Wheeled Mobile Robot Based on Fractional-Order PD Controller

摘要

The paper proposes the second-order wheeled mobile robot control by using the fractional-order PD. The wheeled mobile robot (WMR) has nonholonomic properties and uncertainties brought on by the internal dynamics and/or feedback sensors. In previous work, the PD controller can not present the precise control of speed during the process of tracking, which may lead to the failure of path tracking. To overcome this problem, we propose a robust robot fractional-order proportional-derivative (FOPD) controller for WMR trajectory tracking. To verify the feasibility and effectiveness of our proposed FOPD controller, we design the simulation and experiment for classical PD controller and FOPD controller. The comparative results show that FOPD controller provides better tracking performances.