Abstract
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 \(\text {PD}^{\alpha }\) controller is applied to meet performance and the high robustness requirements due to the neglected nonlinear dynamics. Simulation and experimental data confirm a superior performance of the FO controller while exhibiting a higher robustness to model mismatches and better disturbance rejection properties.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Gravagne IA, Rahn CD, Walker ID (2003) Large deflection dynamics and control for planar continuum robots. IEEE/ASME Trans Mechatron 8(2):299–307
Levine WS (1996) The control handbook. CRC Press
Monje C, Ramos F, Feliu V, Vinagre B (2007) Tip position control of a lightweight flexible manipulator using a fractional order controller. Contr Theor Appl IET 1(5):1451–1460
Monje CA, Chen Y, Vinagre BM, Xue D, Feliu-Batlle V (2010) Fractional-Order Systems and Controls: Fundamentals and Applications. Springer Science & Business Media
Monje CA, Vinagre BM, Feliu V, Chen Y (2008) Tuning and auto-tuning of fractional order controllers for industry applications. Control Eng Pract 16(7):798–812
Reinecke J, Deutschmann B, Fehrenbach D (2016) A structurally flexible humanoid spine based on a tendon-driven elastic continuum. In: 2016 IEEE International Conference on Robotics and Automation (ICRA). IEEE, pp. 4714–4721
Rucker DC, Webster RJ (2011) Statics and dynamics of continuum robots with general tendon routing and external loading. IEEE Trans Rob 27(6):1033–1044
Trivedi D, Rahn CD, Kier WM, Walker ID (2008) Soft robotics: biological inspiration, state of the art, and future research. Appl Bion Biomech 5(3):99–117
van der Schaft A (2000) \(L_2\)-Gain and Passivity Techniques in Nonlinear Control, 2nd edn. Springer
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG
About this paper
Cite this paper
Deutschmann, B., Ott, C., Monje, C.A., Balaguer, C. (2018). Robust Motion Control of a Soft Robotic System Using Fractional Order Control. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_17
Download citation
DOI: https://doi.org/10.1007/978-3-319-61276-8_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-61275-1
Online ISBN: 978-3-319-61276-8
eBook Packages: EngineeringEngineering (R0)