Publication:
Joint position control based on Fractional order PD and PI controllers for the arm of the humanoid robot TEO

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2020-01-01
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World Scientific Publishing Company
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This paper presents a control scheme for the humanoid robot TEO’s elbow joint based on a novel tuning method for fractional-order PD and PI controllers. Due to the graphical nature of the proposed method, a few basic operations are enough to tune the controllers, offering very competitive results compared to classic methods. The experiments show a robust performance of the system to mass changes at the tip of the humanoid arm.
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Fractional calculus, Robust control, Humanoid robots, Motion control
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Muñóz, J., Monje, A.C., Casa Martínez, S. de la y Balaguer, C. (2020). Joint position control based on Fractional order PD and PI controllers for the arm of the humanoid robot TEO. International Journal of Humanoid Robotics,16(6), pp. 1-22.