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Iso-m based adaptive fractional order control with application to a soft robotic neck

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorMuñoz Yáñez-Barnuevo, Jorge
dc.contributor.authorCopaci, Dorin Sabin
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorBlanco Rojas, María Dolores
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2022-01-27T10:38:25Z
dc.date.available2022-01-27T10:38:25Z
dc.date.issued2020-11-03
dc.description.abstractThis article proposes an adaptive fractional feedback control using recursive least squares algorithm for plant identification and a recent real-time method (iso-m) for fractional controller tuning. The combination of both methods allows keeping the same original performance specifications invariant, combining adaptability and robustness in a single scheme. Thanks to the robust controller, the system performance is maintained around a specified operating point, and due to the adaptive scheme, this operating point is adjusted depending on plant changes. Extensive experimentation of the proposal is carried out in a real platform with non-linear time varying properties, a soft robotic neck made of 3D printer soft materials. The experiments proposed consist in the neck inclination control using tilt sensors installed on the tip. According to expectations, an invariant performance despite plant parameter changes was observed throughout the experiments. The good results obtained in the proposed test platform suggest that the benefits of this control scheme are suitable for other nonlinear time varying applications.en
dc.description.sponsorshipThis work was supported in part by the Spanish Ministry of Economy and Competitiveness through the Exoesqueleto para Diagnostico y Asistencia en Tareas de Manipulación Spanish Research Project under Grant DPI2016-75346-R and the HUMASOFT Project under Grant DPI2016-75330-P, in part by the Programas de Actividades I+D en la Comunidad de Madrid, RoboCity2030-DIH-CM, through the Madrid Robotics Digital Innovation Hub (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, Fase IV) under Grant S2018/NMT-4331, and in part by the Structural Funds of the EU.en
dc.format.extent13
dc.identifier.bibliographicCitationMunoz, J., Copaci, D. S., Monje, C. A., Blanco, D. & Balaguer, C. (2020). Iso-m Based Adaptive Fractional Order Control With Application to a Soft Robotic Neck. IEEE Access, 8, 198964–198976.en
dc.identifier.doihttps://doi.org/10.1109/ACCESS.2020.3035450
dc.identifier.issn2169-3536
dc.identifier.publicationfirstpage198964
dc.identifier.publicationlastpage198976
dc.identifier.publicationtitleIEEE Accessen
dc.identifier.publicationvolume8
dc.identifier.urihttps://hdl.handle.net/10016/33980
dc.identifier.uxxiAR/0000026398
dc.language.isoengen
dc.publisherIEEEen
dc.relation.projectIDGobierno de España. DPI2016-75346-Res
dc.relation.projectIDGobierno de España. DPI2016-75330-Pes
dc.relation.projectIDComunidad de Madrid. S2018/NMT-4331es
dc.rights© The authors, 2020. This work is licensed under a Creative Commons Attribution 4.0 License.en
dc.rightsAtribución 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherAdaptive controlen
dc.subject.otherFractional robust controlen
dc.subject.otherBio-inspired necken
dc.subject.otherSoft roboticsen
dc.titleIso-m based adaptive fractional order control with application to a soft robotic necken
dc.typeresearch article*
dc.type.hasVersionVoR*
dspace.entity.typePublication
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