- Fractal and Fractional Journal
- January 2023
- 1, 8
Digital Object Identifier (DOI)
International Standard Serial Number (ISSN)
- Controlling soft robots is a significant challenge due to the nonlinear elastic nature of the soft materials that conform their structure. This paper studies the identification and control problems of a novel two-degrees-of-freedom, tendon-actuated, soft robotic arm. A decoupled identification approach is presented; later, a fractional order control strategy is proposed and tested experimentally, in comparison with PI solutions. The simulation and experimental results show the goodness of the modeling and control approaches discussed.
- Robotics and Industrial Informatics
- soft robotics; fractional order control; modeling of soft robots; control of soft robots