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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. doi: 10.1142/9789813149137_0089.
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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/ | ||||||||||||||||||||
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| 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: |
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| 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: |
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| 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 System Technology | ||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||
| DLR - Program: | R SY - Space System Technology | ||||||||||||||||||||
| DLR - Research theme (Project): | R - Vorhaben Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems | ||||||||||||||||||||
| Deposited By: | Deutschmann, Dr. -Ing. Bastian | ||||||||||||||||||||
| Deposited On: | 20 Dec 2016 11:00 | ||||||||||||||||||||
| Last Modified: | 14 Mar 2024 15:15 |
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