Deutschmann, BastianOtt, ChristianMonje Micharet, Concepción AliciaBalaguer Bernaldo de Quirós, Carlos2020-05-262020-05-262017-07-27Deutschmann, 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. 147-155.978-3-319-61275-1https://hdl.handle.net/10016/30513This paper has been presented at 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD 2017)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.8eng© Springer International Publishing AG 2017.Fractional order controlSoft roboticsRobust controlconference paperRobótica e Informática Industrialhttps://doi.org/10.1007/978-3-319-61276-8_17open access147155Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 201: Advances in Service and Industrial RoboticsCC/0000029330