Modeling and control of a soft robotic arm based on a fractional order control approach Articles uri icon

publication date

  • January 2023

start page

  • 1

end page

  • 18


  • 1, 8


  • 7

International Standard Serial Number (ISSN)

  • 2504-3110


  • 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