Robust fractional-order control using a decoupled pitch and roll actuation strategy for the I-support soft robot

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Tip control is a current open issue in soft robotics; therefore, it has received a good amount of attention in recent years. The desirable soft characteristics of these robots turn a well-solved problem in classic robotics, like the end-effector kinematics and dynamics, into a challenging problem. The high redundancy condition of these robots hinders classical solutions, resulting in controllers with very high computational costs. In this paper, a simplification is proposed in the actuation setup of the I-Support soft robot, allowing the use of simple strategies for tip inclination control. In order to verify the proposed approach, inclination step input and trajectory-tracking experiments were performed on a single module of the I-Support robot, resulting in zero output error in all cases, including those where the system was exposed to disturbances. The comparative results of the proposed controllers, a proportional integral derivative (PID) and a fractional order robust (FOPI) controller, validate the feasibility of the proposed approach, showing a clear advantage in the use of the fractional robust controller for the tip inclination control of the I-Support robot compared to the integer order controller.
This article belongs to the Special Issue Applications of Mathematical Models in Engineering.
Fractional calculus, Robust control, Soft robotics
Bibliographic citation
Muñoz, J., Piqué, F., A. Monje, C. & Falotico, E. (2021). Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot. Mathematics, 9(7), 702.