Tuning of a Fractional-Order PID Controllers for Differential Two-Wheeled Mobile Robot Using Particle Swarm Optimization

This paper presents a practical methodology for tuning a fractional-order PID (FOPID) controller applied to a two-wheeled differential mobile robot. Using the robot’s kinematic model and the particle swarm optimization (PSO) method, the goal is to improve the system’s control precision and stability. Numerical results show that the FOPID controller, compared to its integer-order PID counterpart, offers greater flexibility in parameter tuning and better trajectory tracking performance, achieving a reduction in error. However, challenges related to the FOPID implementation, such as higher computational demand, are also discussed. Future work includes the experimental validation of the results on a physical platform, allowing for the evaluation of the controller’s performance under real-world conditions.