Developing a Fractional-Order PID Controller in Arduino for Mobile Robot Control: A Case Study on AlphaBot2-Ar

Mobile robots have been adopted into society to help with menial tasks like cleaning or sorting products. The issue is primarily the accuracy of the robot’s control, as the sensors may provide an incorrect reading or latency in the actuator. A PID controller can be implemented to increase the robustness of the control by having three tunable parameters in the algorithm. However, a fractional-order PID controller can achieve higher control and precision as it has five tunable parameters. Therefore, in this research, the mobile robot (AlphaBot2) will be implemented with a PID and fractional-order PID controller algorithm in Arduino to perform a path-tracking performance for various simple and complex patterns. The expected result is a higher precision control and performance for the fractional-order PID controller algorithm than the PID controller algorithm.