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

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.authorMonje Micharet, Concepción Alicia
dc.contributor.authorMartínez de la Casa Díaz, Santiago
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.date.accessioned2020-04-21T13:38:04Z
dc.date.available2021-01-06T00:00:06Z
dc.date.issued2020-01-01
dc.description.abstractThis 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.en
dc.format.extent22
dc.identifier.bibliographicCitationMuñóz, 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.en
dc.identifier.doihttps://doi.org/10.1142/S0219843619500427
dc.identifier.issn0219-8436
dc.identifier.publicationfirstpage1
dc.identifier.publicationissue6
dc.identifier.publicationlastpage22
dc.identifier.publicationtitleInternational Journal of Humanoid Roboticsen
dc.identifier.publicationvolume16
dc.identifier.urihttps://hdl.handle.net/10016/30169
dc.identifier.uxxiAR/0000024057
dc.language.isoengen
dc.publisherWorld Scientific Publishing Companyen
dc.rights© The Author(s).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.otherFractional calculusen
dc.subject.otherRobust controlen
dc.subject.otherHumanoid robotsen
dc.subject.otherMotion controlen
dc.titleJoint position control based on Fractional order PD and PI controllers for the arm of the humanoid robot TEOen
dc.typeresearch article*
dc.type.hasVersionAM*
dspace.entity.typePublication
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