Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot
Tip control is a current open issue in soft robotics; therefore, it has received a good amount of attention in recent years. The desirable soft characteristics of these robots turn a well-solved problem in classic robotics, like the end-effector kinematics and dynamics, into a challenging problem. T...
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doaj-5cbedb8f69664d0cb711ac7220823cc02021-03-25T00:04:46ZengMDPI AGMathematics2227-73902021-03-01970270210.3390/math9070702Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft RobotJorge Muñoz0Francesco Piqué1Concepción A. Monje2Egidio Falotico3Department of Systems Engineering and Automation, University Carlos III of Madrid, Avda. de la Universidad 30, 28911 Leganés, Madrid, SpainThe BioRobotics Institute, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, ItalyDepartment of Systems Engineering and Automation, University Carlos III of Madrid, Avda. de la Universidad 30, 28911 Leganés, Madrid, SpainThe BioRobotics Institute, Scuola Superiore Sant’Anna, Viale Rinaldo Piaggio 34, 56025 Pontedera, Pisa, ItalyTip control is a current open issue in soft robotics; therefore, it has received a good amount of attention in recent years. The desirable soft characteristics of these robots turn a well-solved problem in classic robotics, like the end-effector kinematics and dynamics, into a challenging problem. The high redundancy condition of these robots hinders classical solutions, resulting in controllers with very high computational costs. In this paper, a simplification is proposed in the actuation setup of the I-Support soft robot, allowing the use of simple strategies for tip inclination control. In order to verify the proposed approach, inclination step input and trajectory-tracking experiments were performed on a single module of the I-Support robot, resulting in zero output error in all cases, including those where the system was exposed to disturbances. The comparative results of the proposed controllers, a proportional integral derivative (PID) and a fractional order robust (FOPI) controller, validate the feasibility of the proposed approach, showing a clear advantage in the use of the fractional robust controller for the tip inclination control of the I-Support robot compared to the integer order controller.https://www.mdpi.com/2227-7390/9/7/702soft roboticsrobust controlfractional calculus |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jorge Muñoz Francesco Piqué Concepción A. Monje Egidio Falotico |
spellingShingle |
Jorge Muñoz Francesco Piqué Concepción A. Monje Egidio Falotico Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot Mathematics soft robotics robust control fractional calculus |
author_facet |
Jorge Muñoz Francesco Piqué Concepción A. Monje Egidio Falotico |
author_sort |
Jorge Muñoz |
title |
Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot |
title_short |
Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot |
title_full |
Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot |
title_fullStr |
Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot |
title_full_unstemmed |
Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot |
title_sort |
robust fractional-order control using a decoupled pitch and roll actuation strategy for the i-support soft robot |
publisher |
MDPI AG |
series |
Mathematics |
issn |
2227-7390 |
publishDate |
2021-03-01 |
description |
Tip control is a current open issue in soft robotics; therefore, it has received a good amount of attention in recent years. The desirable soft characteristics of these robots turn a well-solved problem in classic robotics, like the end-effector kinematics and dynamics, into a challenging problem. The high redundancy condition of these robots hinders classical solutions, resulting in controllers with very high computational costs. In this paper, a simplification is proposed in the actuation setup of the I-Support soft robot, allowing the use of simple strategies for tip inclination control. In order to verify the proposed approach, inclination step input and trajectory-tracking experiments were performed on a single module of the I-Support robot, resulting in zero output error in all cases, including those where the system was exposed to disturbances. The comparative results of the proposed controllers, a proportional integral derivative (PID) and a fractional order robust (FOPI) controller, validate the feasibility of the proposed approach, showing a clear advantage in the use of the fractional robust controller for the tip inclination control of the I-Support robot compared to the integer order controller. |
topic |
soft robotics robust control fractional calculus |
url |
https://www.mdpi.com/2227-7390/9/7/702 |
work_keys_str_mv |
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