- January 2020
Digital Object Identifier (DOI)
International Standard Serial Number (ISSN)
Electronic International Standard Serial Number (EISSN)
- This paper presents a control scheme for the humanoid robot TEO's elbow joint based on a novel tuning method for fractional-order PD and PI controllers. Due to the graphical nature of the proposed method, a few basic operations are enough to tune the controllers, offering very competitive results compared to classic methods. The experiments show a robust performance of the system to mass changes at the tip of the humanoid arm.
- Robotics and Industrial Informatics
- fractional calculus; robust control; humanoid robots; motion control