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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

Abstract

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
Authors:
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 SCOPUS:No
In ISI Web of Science:No
Volume:49
DOI :10.1007/978-3-319-61276-8
Editors:
EditorsEmail
Ferraresi, CarloUNSPECIFIED
Quaglia, GiuseppeUNSPECIFIED
Publisher:Springer International Publishing
Series Name:Mechanism and Machine Science
ISSN:2211-0984
ISBN:978-3-319-61275-1
Status:Published
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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