The Study of Fractional Order Controller with SLAM in the Humanoid Robot
Joint Authors
Chen, Xiao
Rad, Ahmad B.
Othman, Kamal Mohammed
Zhao, Yongsheng
Wen, Shuhuan
Zhang, Ethan
Source
Advances in Mathematical Physics
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-8, 8 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-01-28
Country of Publication
Egypt
No. of Pages
8
Main Subjects
Abstract EN
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 (Kp,Ki, and α) 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.
American Psychological Association (APA)
Wen, Shuhuan& Chen, Xiao& Zhao, Yongsheng& Rad, Ahmad B.& Othman, Kamal Mohammed& Zhang, Ethan. 2014. The Study of Fractional Order Controller with SLAM in the Humanoid Robot. Advances in Mathematical Physics،Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-495027
Modern Language Association (MLA)
Wen, Shuhuan…[et al.]. The Study of Fractional Order Controller with SLAM in the Humanoid Robot. Advances in Mathematical Physics No. 2014 (2014), pp.1-8.
https://search.emarefa.net/detail/BIM-495027
American Medical Association (AMA)
Wen, Shuhuan& Chen, Xiao& Zhao, Yongsheng& Rad, Ahmad B.& Othman, Kamal Mohammed& Zhang, Ethan. The Study of Fractional Order Controller with SLAM in the Humanoid Robot. Advances in Mathematical Physics. 2014. Vol. 2014, no. 2014, pp.1-8.
https://search.emarefa.net/detail/BIM-495027
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-495027