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Robust motion control of a soft robotic system using fractional order control

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dc.affiliation.dptoUC3M. Departamento de Ingeniería de Sistemas y Automáticaes
dc.affiliation.grupoinvUC3M. Grupo de Investigación: Laboratorio de Robótica (Robotics Lab)es
dc.contributor.authorDeutschmann, Bastian
dc.contributor.authorOtt, Christian
dc.contributor.authorMonje Micharet, Concepción Alicia
dc.contributor.authorBalaguer Bernaldo de Quirós, Carlos
dc.date.accessioned2020-05-26T11:47:36Z
dc.date.available2020-05-26T11:47:36Z
dc.date.issued2017-07-27
dc.descriptionThis paper has been presented at 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2017)en
dc.description.abstractThis 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.en
dc.format.extent8
dc.identifier.bibliographicCitationDeutschmann, 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.en
dc.identifier.doihttps://doi.org/10.1007/978-3-319-61276-8_17
dc.identifier.isbn978-3-319-61275-1
dc.identifier.publicationfirstpage147
dc.identifier.publicationlastpage155
dc.identifier.publicationtitleProceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 201: Advances in Service and Industrial Roboticsen
dc.identifier.urihttps://hdl.handle.net/10016/30513
dc.identifier.uxxiCC/0000029330
dc.language.isoengen
dc.publisherSpringeren
dc.relation.eventdate21-23 June 2017en
dc.relation.eventplaceTurín, Italiaes
dc.relation.eventtitle26th International Conference on Robotics in Alpe-Adria Danube Region (RAAD 2017)en
dc.relation.ispartofseriesMechanisms and Machine Scienceen
dc.relation.ispartofseries49
dc.rights© Springer International Publishing AG 2017.en
dc.rights.accessRightsopen access
dc.subject.ecienciaRobótica e Informática Industriales
dc.subject.otherFractional order controlen
dc.subject.otherSoft roboticsen
dc.subject.otherRobust controlen
dc.titleRobust motion control of a soft robotic system using fractional order controlen
dc.typeconference paper*
dc.type.hasVersionAM*
dspace.entity.typePublication
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