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

Table 1

Parameters of the DDMR model kinematics.

Symbol	Definition
m	Center point between the two rear wheels of DDMR
D	Distance between the DDMR back wheels (m)
r	Wheel radius of DDMR (m)
	DDMR linear velocity (m/sec)
	DDMR angular velocity (rad/sec)
	Left wheel linear velocity (m/sec)
	Right wheel linear velocity (m/sec)
	Orientation of the mobile robot from the x-axis