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Advances in Mathematical Physics
Volume 2014 (2014), Article ID 741351, 8 pages
Research Article

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

1Key Lab of Industrial Computer Control Engineering of Hebei Province, Yanshan University, Qinhuangdao 066004, China
2Machanical Engineering, Yanshan University, Qinhuangdao 066004, China
3School of Engineering Sciences, Simon Fraser University, 250-13450, 102 Avenue, Surrey, BC, Canada V3T 0A3

Received 26 September 2013; Revised 15 November 2013; Accepted 17 November 2013; Published 28 January 2014

Academic Editor: Ming Li

Copyright © 2014 Shuhuan Wen et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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 ( ) 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.