Joint position control based on Fractional order PD and PI controllers for the arm of the humanoid robot TEO Articles uri icon

publication date

  • January 2020


  • 6


  • 16

International Standard Serial Number (ISSN)

  • 0219-8436

Electronic International Standard Serial Number (EISSN)

  • 1793-6942


  • 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