The Study of Fractional Order Controller with SLAM in the Humanoid Robot

<table>The error of the different <svg height="18.3125" id="M95" style="vertical-align:-4.74141pt" version="1.1" viewbox="0 0 21 18.3125" width="21" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
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<g transform="matrix(.012,-0,0,-.012,13.25,15.188)"><path d="M570 304q0 -108 -87 -199q-40 -42 -94.5 -74t-105.5 -43q-41 0 -65 11l-29 -141q-9 -45 -1.5 -58t45.5 -16l26 -2l-5 -29l-241 -10l4 26q51 10 67.5 24t26.5 60l113 520q-54 -20 -89 -41l-7 26q38 28 105 53l11 49q20 25 77 58l8 -7l-17 -77q39 14 102 14q82 0 119 -36
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</svg> with PI controller.</table>

Advances in Mathematical Physics

fig4

Figure 4

Figure 4: The Study of Fractional Order Controller with SLAM in the Humanoid Robot 