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Monje, Concepcion Alicia and Deutschmann, Bastian and Munoz, Jorge and Ott, Christian and Balaguer, Carlos (2023) Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions. IEEE Control Systems Magazine, 43 (3), 66 -99. IEEE - Institute of Electrical and Electronics Engineers. doi: 10.1109/MCS.2023.3253420. ISSN 1066-033X.
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Official URL: https://ieeexplore.ieee.org/abstract/document/10136425
Abstract
Continuum soft robots are made up of soft material components (referred to as continuum), rigid components, actuators, and sensors. By structurally deforming the continuum, a motion of the entire system is initiated. To capture the interaction of the actuators on the soft material deformation and the corresponding sensor readings, mathematical models involving geometrical, material, and inertia parameters of the physical system must be set up to predict its complex physical behavior.
| Item URL in elib: | https://elib.dlr.de/197434/ | ||||||||||||||||||||||||
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| Document Type: | Article | ||||||||||||||||||||||||
| Title: | Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions | ||||||||||||||||||||||||
| Authors: |
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| Date: | 25 May 2023 | ||||||||||||||||||||||||
| Journal or Publication Title: | IEEE Control Systems Magazine | ||||||||||||||||||||||||
| Refereed publication: | Yes | ||||||||||||||||||||||||
| Open Access: | No | ||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||
| In SCOPUS: | Yes | ||||||||||||||||||||||||
| In ISI Web of Science: | Yes | ||||||||||||||||||||||||
| Volume: | 43 | ||||||||||||||||||||||||
| DOI: | 10.1109/MCS.2023.3253420 | ||||||||||||||||||||||||
| Page Range: | 66 -99 | ||||||||||||||||||||||||
| Publisher: | IEEE - Institute of Electrical and Electronics Engineers | ||||||||||||||||||||||||
| ISSN: | 1066-033X | ||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||
| Keywords: | Continuum Soft Robots, Fraction Order Control | ||||||||||||||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||||||||
| HGF - Program: | Space | ||||||||||||||||||||||||
| HGF - Program Themes: | Robotics | ||||||||||||||||||||||||
| DLR - Research area: | Raumfahrt | ||||||||||||||||||||||||
| DLR - Program: | R RO - Robotics | ||||||||||||||||||||||||
| DLR - Research theme (Project): | R - Robot Dynamics & Simulation [RO] | ||||||||||||||||||||||||
| 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: | 21 Sep 2023 10:09 | ||||||||||||||||||||||||
| Last Modified: | 21 Sep 2023 10:09 |
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