Monje, C. A., Deutschmann, B., Muñoz, J., Ott, C., & Balaguer, C. (2023). Fractional Order Control of Continuum Soft Robots: Combining Decoupled/Reduced-Dynamics Models and Robust Fractional Order Controllers for Complex Soft Robot Motions. IEEE Control Systems, 43(3), 66–99. https://doi.org/10.1109/MCS.2023.3253420
E376-02 - Forschungsbereich Komplexe Dynamische Systeme E376 - Institut für Automatisierungs- und Regelungstechnik
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Journal:
IEEE Control Systems
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ISSN:
1066-033X
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Date (published):
Jun-2023
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Number of Pages:
34
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Publisher:
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Peer reviewed:
Yes
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Keywords:
Soft Robotics
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Continuum Manipulators; Fractional Order Control
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Abstract:
Continuum soft robots are made up of soft material components (referred to as continuum), rigid components, actuators, and sensors. By structurally deforming the continuum, a motion of the entire system is initiated. To capture the interaction of the actuators on the soft material deformation and the corresponding sensor readings, mathematical models involving geometrical, material, and inertia parameters of the physical system must be set up to predict its complex physical behavior.
