Modeling and Control of a Soft Robotic Arm Based on a Fractional Order Control Approach
Carlos Relaño, Jorge Muñoz, Concepción A. Monje, Santiago Martínez, D. Gonzalez
Abstract
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.
Topics & Concepts
Control (management)Control theory (sociology)Identification (biology)Nonlinear systemRobotic armControl engineeringComputer scienceSystem identificationSoft roboticsRobotEngineeringArtificial intelligencePhysicsData modelingDatabaseQuantum mechanicsBotanyBiologySoft Robotics and ApplicationsAdvanced Surface Polishing TechniquesIterative Learning Control Systems