A Novel Design of a Neural Network-Based Fractional PID Controller for Mobile Robots Using Hybridized Fruit Fly and Particle Swarm Optimization

Algorithm 3

Tuning of the optimal NNFOPID parameters for DDMR using MAPSO-EFFO

(1)	Initialize imax
(2)	Start MAPSO algorithm and initialize its parameters (Algorithm 1).
(3)	Obtain the Gbest position from the MAPSO for each of the NNFOPID controller parameters.
(4)	Start EFFO algorithm and calculate the initial parameter values using
(5)	Follow the steps of the EFFO algorithm (Algorithm 2).
(6)	Set i = i + 1 and go to step 5 until either iteration i reaches imax or convergence is achieved.