Modeling and Control of a Soft Robotic Arm Based on a Fractional Order Control Approach

Autor:	Carlos Relaño, Jorge Muñoz, Concepción A. Monje, Santiago Martínez, Daniel González
Jazyk:	angličtina
Rok vydání:	2022
Předmět:	soft robotics fractional order control modeling of soft robots control of soft robots Thermodynamics QC310.15-319 Mathematics QA1-939 Analysis QA299.6-433
Zdroj:	Fractal and Fractional, Vol 7, Iss 1, p 8 (2022)
Druh dokumentu:	article
ISSN:	2504-3110
DOI:	10.3390/fractalfract7010008
Popis:	Controlling soft robots is a significant challenge due to the nonlinear elastic nature of the soft materials that conform their structure. This paper studies the identification and control problems of a novel two-degrees-of-freedom, tendon-actuated, soft robotic arm. A decoupled identification approach is presented; later, a fractional order control strategy is proposed and tested experimentally, in comparison with PI solutions. The simulation and experimental results show the goodness of the modeling and control approaches discussed.
Databáze:	Directory of Open Access Journals
Externí odkaz:	https://doaj.org/article/f0098c65bf6b442782e3e05e68388f1a Zobrazit plný text záznamu View record in DOAJ Plný text ve formátu PDF Plný text ve formátu HTML
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