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Multi-input multi-output fractional-order control of an underactuated continuum mechanism

Deutschmann, Bastian and Monje, Concepcion Alicia and Ott, Christian (2020) Multi-input multi-output fractional-order control of an underactuated continuum mechanism. International Journal of Advanced Robotic Systems, 17 (6), pp. 1-11. SAGE Publications. doi: 10.1177/1729881420969578. ISSN 1729-8806.

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Official URL: https://journals.sagepub.com/doi/full/10.1177/1729881420969578


This article treats the design and implementation of a multi-input multi-output fractional-order controller for a nonlinear system composed of a tendon-driven continuum mechanism. As the continuum can be deformed along all Cartesian directions, it is suitable for the application as a flexible neck of a humanoid robot. In this work, a model-based control approach is proposed to control the position of the head, that is, the rigid body attached to the top of the continuum mechanism. Herein, the system is modeled as a rigid body on top of a nonlinear Cartesian spring, with an experimentally obtained deflection characteristic which provides a simple and real-time capable model. By nonlinear feedback, the output dynamics are linearized and decoupled, which enables the design of single-input single-output fractional-order controllers for the regulation of each output independently. The design of a fractional-order PD-alpha controller is discussed to incorporate robustness and a fast transient response. The proposed control approach is tested in several experiments on the real system.

Item URL in elib:https://elib.dlr.de/139153/
Document Type:Article
Title:Multi-input multi-output fractional-order control of an underactuated continuum mechanism
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Deutschmann, BastianUNSPECIFIEDhttps://orcid.org/0000-0002-9139-5719UNSPECIFIED
Monje, Concepcion AliciaUniversity Carlos III Madridhttps://orcid.org/0000-0001-8295-127XUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:1 November 2020
Journal or Publication Title:International Journal of Advanced Robotic Systems
Refereed publication:Yes
Open Access:Yes
Gold Open Access:Yes
In ISI Web of Science:No
Page Range:pp. 1-11
Publisher:SAGE Publications
Series Name:Sage Journals
Keywords:Soft material robots, fractional-order control, underactuated system, partial feedback linearization
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 Robotdynamik & Simulation (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:07 Dec 2020 11:03
Last Modified:07 Dec 2020 11:03

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