Discrete fractional order PID controller in case of the FLHex robot leg position control system

Practical implementation of the fractional order PID (FOPID) controller for FLHex robot leg position control system with comparison of selected performance indexes for different controller's coefficients. In the case of systems such as the FLHex mobile robot, where multiple PID controllers are used, more advanced control algorithms such as FOPID controller can improve quality of control and energy consumption, which is extremely important in the case of mobile robots. Presented comparison of FOPID controllers with varied coefficients in case of leg underwater movement for step sequence setpoint shown differences in parameters of averaged step response, integrals of the squared error (ISE) and integrals of energy consumption (IEC).