FRACTIONAL ORDER CONTROL OF A SOFT ROBOTIC SYSTEM

The purpose of this work is to present a novel control approach for a tendon driven soft robotic system using a Fractional Order (FO) controller. As the complex system is difficult to model, an advanced robust controller is applied based on a simplified model. The FO controller is used to meet the control specifications, taking advantage of the introduction of its fractional order α. Simulation and experimental data are presented to validate the approach.

[1]  Richard M. Murray,et al.  A Mathematical Introduction to Robotic Manipulation , 1994 .

[2]  S. Antman.  Nonlinear problems of elasticity , 1994 .

[3]  Alexander Verl,et al.  3D Printed Objects and Components Enabling Next Generation of True Soft Robotics , 2015 .

[4]  J. Bruce C. Davies,et al.  Continuum robots - a state of the art , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).