Optimal Backstepping-FOPID Controller Design for Wheeled Mobile Robot

A design of an optimal backstepping fractional order proportional integral derivative (FOPID) controller for handling the trajectory tracking problem wheeled mobile robots (WMR) is examined in this study. Tuning parameters a challenging task, to overcome issue hybrid meta-heuristic optimization algorithm has been utilized. This evolutionary technique known as whale grey wolf optimizer (HWGO), which benefits from performances two traditional algorithms, (WOA) and (GWO), obtain most suitable solution. The efficiency HWGO compared against those original algorithms WOA, GWO, particle swarm (PSO), (HPSOGWO). simulation results MATLAB–Simulink environment revealed highest suggested other methods terms settling rise time, overshoot, well steady-state error. Finally, star made illustrate capability mentioned controller.