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

Figure 6

The effect of three parameters (𝐾_𝑝, 𝐾_𝑖, and 𝛼) of FOPI controller.

(a) The error of different 𝐾_𝑝

(b) The error of different 𝐾_𝑖

(c) The error of different 𝛼