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Robust Motion Control of a Soft Robotic System Using Fractional Order Control

Deutschmann, Bastian and Ott, Christian and Monje, Concepcion Alicia and Balaguer, Carlos (2018) Robust Motion Control of a Soft Robotic System Using Fractional Order Control. In: Advances in Service and Industrial Robotics Mechanism and Machine Science, 49 (1). Springer International Publishing. ISBN 978-3-319-61275-1. ISSN 2211-0984

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Official URL: https://www.springerprofessional.de/en/robust-motion-control-of-a-soft-robotic-system-using-fractional-/13331264


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 PDα 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.

Item URL in elib:https://elib.dlr.de/116157/
Document Type:Book Section
Title:Robust Motion Control of a Soft Robotic System Using Fractional Order Control
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Deutschmann, BastianBastian.Deutschmann (at) dlr.deUNSPECIFIED
Ott, ChristianChristian.Ott (at) dlr.deUNSPECIFIED
Monje, Concepcion AliciaUniversity Carlos III MadridUNSPECIFIED
Balaguer, CarlosUniversity Carlos III MadridUNSPECIFIED
Date:January 2018
Journal or Publication Title:Advances in Service and Industrial Robotics
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
DOI :10.1007/978-3-319-61276-8
Ferraresi, CarloUNSPECIFIED
Quaglia, GiuseppeUNSPECIFIED
Publisher:Springer International Publishing
Series Name:Mechanism and Machine Science
Keywords:Soft Robots, Fractional Order 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 Robotdynamik & Simulation
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:16 Jan 2018 00:11
Last Modified:16 Jan 2018 00:11

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