Publication:
Fractional Control of a Humanoid Robot Reduced Model with Model Disturbances

Simple item page
dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorGonzález-Fierro Palacios, Miguel
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.contributor.funderComunidad de Madrides
dc.contributor.funderMinisterio de Economía y Competitividad (España)es
dc.date.accessioned2023-12-01T11:17:54Z
dc.date.available2023-12-01T11:17:54Z
dc.date.issued2016-05-15
dc.description.abstractThere is an open discussion between those who defend mass-distributed models for humanoid robots and those in favor of simple concentrated models. Even though each of them has its advantages and disadvantages, little research has been conducted analyzing the control performance due to the mismatch between the model and the real robot, and how the simplifications affect the controller's output. In this article we address this problem by combining a reduced model of the humanoid robot, which has an easier mathematical formulation and implementation, with a fractional order controller, which is robust to changes in the model parameters. This controller is a generalization of the well-known proportional-integral-derivative (PID) structure obtained from the application of Fractional Calculus for control, as will be discussed in this article. This control strategy guarantees the robustness of the system, minimizing the effects from the assumption that the robot has a simple mass distribution. The humanoid robot is modeled and identified as a triple inverted pendulum and, using a gain scheduling strategy, the performances of a classical PID controller and a fractional order PID controller are compared, tuning the controller parameters with a genetic algorithm.en
dc.description.sponsorshipThe research leading to these results has received funding from the ARCADIA project DPI2010-21047- C02-01, funded by CICYT project grant on behalf of Spanish Ministry of Economy and Competitiveness, and from the RoboCity2030-II-CM project (S2009/DPI-1559), funded by the Research and Development Work Programme of the Community of Madrid and cofunded by Structural Funds of the EU.en
dc.description.statusPublicadoes
dc.identifier.bibliographicCitationCybernetics and Systems, 47(6), pp.: 445-459.en
dc.identifier.doihttps://doi.org/10.1080/01969722.2016.1187031
dc.identifier.issn0196-9722
dc.identifier.publicationfirstpage445
dc.identifier.publicationissue6
dc.identifier.publicationlastpage459
dc.identifier.publicationtitleCYBERNETICS AND SYSTEMSen
dc.identifier.publicationvolume47
dc.identifier.urihttps://hdl.handle.net/10016/39017
dc.identifier.uxxiAR/0000033567
dc.language.isoengen
dc.publisherTaylor & Francisen
dc.relation.projectIDComunidad de Madrid. S2009/DPI-1559es
dc.relation.projectIDGobierno de España. DPI2010-21047-C02-01es
dc.rights© 2016, Taylor & Francis Group, LLC.en
dc.rightsAtribución-NoComercial-SinDerivadas 3.0 España*
dc.rights.accessRightsopen accessen
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/*
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherHumanoid robot modelen
dc.subject.otherFractional order controlen
dc.subject.otherReduced dynamic modelen
dc.titleFractional Control of a Humanoid Robot Reduced Model with Model Disturbancesen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
Files
Original bundle
Now showing 1 - 1 of 1
Thumbnail Image
Name:
fractional_CAS_2016_ps.pdf
Size:
520.9 KB
Format:
Adobe Portable Document Format
Download
Collections
DISA - LR - Artículos de Revistas