Publication: Robust motion control of a soft robotic system using fractional order control
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2017-07-27
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Springer
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Abstract
This work presents a novel control approach for a tendon-driven soft robotic system. The soft robotic system composed of a silicon continuum, tendons and antagonistic actuation yields a highly complex mechanical model. As the high complexity is not feasible here, a linear time invariant system is approximated instead for the controller design. A fractional order PDalfa controller is applied to meet performance and the high robustness requirements due to the neglected nonlinear dynamics. Simulation and experimental data confirm a superior performance of the FO controller while exhibiting a higher robustness to model mismatches and better disturbance rejection properties.
Description
This paper has been presented at 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2017)
Keywords
Fractional order control, Soft robotics, Robust control
Bibliographic citation
Deutschmann, B., Ott, C., Monje, C. A. y Balaguer, C. (2017). Robust Motion Control of a Soft Robotic System Using Fractional Order Control. In 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017: Advances in Service and Industrial Robotics, Springer, Cham, pp. 147-155.