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

Table 6

The control parameters of NNFOPID controller by MAPSOA-EFFO.

Control parameter	Case1	Case2	Case3
KPx	0.7213	0.2770	0.7706
KIx	1.1883	1.4497	8.6215
KDx	1.2108	0.5298	3.81077
λx	0.8284	0.8389	1.1176
αx	1.0864	0.6049	0.0623
KPy	0.1204	−0.2191	−1.1972
KIy	−1.581	−3.6139	0.5654
KDy	0.5246	−1.3169	−2.7585
λy	1.3507	0.3169	0.7094
αy	1.3507	0.8025	0.0009
KPθ	0.6078	1.07	−3.776
KIθ	1.1686	1.0355	−5.8303
KDθ	0.3714	0.4932	−1.8916
λθ	0.644	0.8384	1.3287
αθ	1.176	0.6879	0.1969