Iso-m Based Adaptive Fractional Order Control With Application to a Soft Robotic Neck

This article proposes an adaptive fractional feedback control using recursive least squares algorithm for plant identification and a recent real-time method (iso-m) for fractional controller tuning. The combination of both methods allows keeping the same original performance specifications invariant...

Full description

Saved in:
Bibliographic Details
Published in:IEEE access 2020, Vol.8, p.198964-198976
Main Authors: Munoz, Jorge, Copaci, Dorin S., Monje, Concepcion A., Blanco, Dolores, Balaguer, Carlos
Format: Article
Language:English
Subjects:
Adaptive control
Adaptive systems
Algorithms
bio-inspired neck
Controllers
Experimentation
Feedback control
fractional robust control
Invariants
Neck
Robust control
Robustness
Sensors
Soft robotics
Three dimensional printing
Time-varying systems
Tuning
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:This article proposes an adaptive fractional feedback control using recursive least squares algorithm for plant identification and a recent real-time method (iso-m) for fractional controller tuning. The combination of both methods allows keeping the same original performance specifications invariant, combining adaptability and robustness in a single scheme. Thanks to the robust controller, the system performance is maintained around a specified operating point, and due to the adaptive scheme, this operating point is adjusted depending on plant changes. Extensive experimentation of the proposal is carried out in a real platform with non-linear time varying properties, a soft robotic neck made of 3D printer soft materials. The experiments proposed consist in the neck inclination control using tilt sensors installed on the tip. According to expectations, an invariant performance despite plant parameter changes was observed throughout the experiments. The good results obtained in the proposed test platform suggest that the benefits of this control scheme are suitable for other nonlinear time varying applications.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2020.3035450