Robust Motion Control of a Soft Robotic System using Fractional Order Control
This work presents a novel control approach for a tendon-driven soft robotic system. The soft robotic system composed of a silicon continuum, tendons and antagonistic actuation, yields a highly complex mechanical model. As the high complexity is not feasible here, a linear time invariant system is approximated instead for the controller design. A fractional order PD controller is applied to meet performance and the high robustness requirements due to the neglected nonlinear dynamics.
The presented experimental data confirm a superior performance of the FO controller while exhibiting a higher robustness to model mismatches and better disturbance rejection properties.
Robust Motion Control of a Soft Robotic System using Fractional Order Control
Robust Motion Control of a Soft Robotic System using Fractional Order Control
This work presents a novel control approach for a tendon-driven soft robotic system. The soft robotic system composed of a silicon continuum, tendons and antagonistic actuation, yields a highly complex mechanical model. As the high complexity is not feasible here, a linear time invariant system is approximated instead for the controller design. A fractional order PD controller is applied to meet performance and the high robustness requirements due to the neglected nonlinear dynamics.
The presented experimental data confirm a superior performance of the FO controller while exhibiting a higher robustness to model mismatches and better disturbance rejection properties.
Credit: DLR (CC BY-NC-ND 3.0)
Duration:00:01:25