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FRACTIONAL ORDER CONTROL OF A SOFT ROBOTIC SYSTEM: Proceedings of the 19th International Conference on CLAWAR 2016

Monje, Concepcion Alicia and Balaguer, Carlos and Deutschmann, Bastian and Ott, Christian (2016) FRACTIONAL ORDER CONTROL OF A SOFT ROBOTIC SYSTEM: Proceedings of the 19th International Conference on CLAWAR 2016. In: Advances in Cooperative Robotics Advances in Cooperative Robotics. World Scientific. pp. 771-779.

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Official URL: http://www.worldscientific.com/worldscibooks/10.1142/10261

Abstract

The purpose of this work is to present a novel control approach for a tendon driven soft robotic system using a Fractional Order (FO) controller. As the complex system is difficult to model, an advanced robust controller is applied based on a simplified model. The FO controller is used to meet the control specifications, taking advantage of the introduction of its fractional order α. Simulation and experimental data are presented to validate the approach.

Item URL in elib:https://elib.dlr.de/109324/
Document Type:Contribution to a Collection
Title:FRACTIONAL ORDER CONTROL OF A SOFT ROBOTIC SYSTEM: Proceedings of the 19th International Conference on CLAWAR 2016
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Monje, Concepcion AliciaUniversity Carlos III MadridUNSPECIFIED
Balaguer, CarlosUniversity Carlos III MadridUNSPECIFIED
Deutschmann, BastianDeutsches Zentrum für Luft und RaumfahrtUNSPECIFIED
Ott, ChristianDeutsches Zentrum für Luft und RaumfahrtUNSPECIFIED
Date:October 2016
Journal or Publication Title:Advances in Cooperative Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
DOI :[10.1142/9789813149137_0089]
Page Range:pp. 771-779
Editors:
EditorsEmail
Tokhi, MohammadUNSPECIFIED
Virk, GurvinderUNSPECIFIED
Publisher:World Scientific
Series Name:Advances in Cooperative Robotics
Status:Published
Keywords:Fractional Order Control, Soft Robotics, System Modeling, Robust Control
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Deutschmann, Bastian
Deposited On:20 Dec 2016 11:00
Last Modified:20 Dec 2016 11:00

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