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

Table 5

The MSE of the position and orientation using MAPSO-EFFO algorithm.

Controller type		Case studies
		Case 1	Case 2	Case 3
NNPID	x	0.000226	0.000237	0.000072
	y	0.000372	0.00234	0.000051
	θ	0.000193	0.000563	0.00016
NNFOPID	x	0.0000598	0.000232	0.0000543
	y	0.000182	0.0000357	0.00002283
	θ	0.000474	0.00053	0.0000433