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Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions

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.

Full text not available from this repository.

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/
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:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Monje, Concepcion AliciaUniversity Carlos III Madridhttps://orcid.org/0000-0001-8295-127XUNSPECIFIED
Deutschmann, BastianUNSPECIFIEDhttps://orcid.org/0000-0002-9139-5719UNSPECIFIED
Munoz, JorgeUniversity Carlos III MadridUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Balaguer, CarlosUniversity Carlos III MadridUNSPECIFIEDUNSPECIFIED
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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