RT Conference Proceedings
T1 Robust motion control of a soft robotic system using fractional order control
A1 Deutschmann, Bastian
A1 Ott, Christian
A1 Monje Micharet, Concepción Alicia
A1 Balaguer Bernaldo de Quirós, Carlos
AB 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.
PB Springer
SN 978-3-319-61275-1
YR 2017
FD 2017-07-27
LK https://hdl.handle.net/10016/30513
UL https://hdl.handle.net/10016/30513
LA eng
NO This paper has been presented at 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2017)
DS e-Archivo
RD 30 jun. 2024