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Fractal Fract
Special Issues
Fractional Order Control Techniques for Robots
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Fractional Order Control Techniques for Robots

A special issue of Fractal and Fractional (ISSN 2504-3110). This special issue belongs to the section "Engineering".

Deadline for manuscript submissions: closed (30 June 2023) | Viewed by 5724

Special Issue Editors

Prof. Dr. Inés Tejado

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Guest Editor
Industrial Engineering School, University of Extremadura, 06006 Badajoz, Spain
Interests: fractional order control; flexible robotics; bioengineering applications
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Blas M. Vinagre

E-Mail Website
Guest Editor
Industrial Engineering School, University of Extremadura, Av. Elvas s/n, 06006 Badajoz, Spain
Interests: fractional calculus; control theory and applications; mobile and flexible robotics; microrobotics
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Vicente Feliu Batlle

E-Mail Website
Guest Editor
Escuela Técnica Superior de Ingeniería Industrial and the Instituto de Investigaciones Energticas y Aplicaciones Industriales (INEI), Universidad de Castilla-La Mancha, Ciudad Real, Spain
Interests: robotics; mechatronics; robust control; nonlinear control
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

As robotic systems become more sophisticated than ever, the importance of robot modeling and control are highlighted in the viewpoints of both theory and practice. Although such issues may be based on classical control theory, current advances in the field require a more thorough understanding of the dynamics of robot systems’ mechanical structure, as well as the tasks and purposes relating to their performance.

To this respect, fractional-order control (FOC), i.e., the generalization to non-integer orders of traditional controllers and control schemes, is becoming an efficient and succesful research field in recent decades because provides a performance enhancement of the system even when its structure incorporates complex dynamics and demands high robustness requirements. Likewise, it also allows accurate modeling of many complex phenomena, as well as obtaining adequate exploitable models with few parameters.

The purpose of this Special Issue is to attract original, significant, and visionary research and survey papers describing the recent advances in the theory and methodology which have driven recent progress in fractional-order control system design and applications in robotics. Please note that all submitted papers must be within the general scope of Fractal and Fractional. Potential topics include, but are not limited to, the following:

  • Controls in industrial robotics;
  • Service and inspection robotics;
  • Controls in medical and rehabilitation robotics;
  • Controls for human-robot interaction;
  • Controls in emerging robotics;
  • Control and component technologies for robots.

Examples of specific problems include the control of robot locomotion, the control of mobile robots, the control of unmanned aerial vehicles, the control of flexible robots, the control of soft robots, robot force control, learning robot control, bio-inspired robot control, multi-robot control, teleoperation, robot control from the cloud, etc.

Prof. Dr. Inés Tejado
Prof. Dr. Blas Vinagre
Prof. Dr. Vicente Feliu Batlle
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Fractal and Fractional is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2700 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • fractional-order
  • modeling
  • control
  • robotics

Published Papers (4 papers)

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Research

23 pages, 29777 KiB  
Article
Fractional-Order Models of Damping Phenomena in a Flexible Sensing Antenna Used for Haptic Robot Navigation
by María Isabel Haro-Olmo, Inés Tejado, Blas M. Vinagre and Vicente Feliu-Batlle
Fractal Fract. 2023, 7(8), 621; https://0-doi-org.brum.beds.ac.uk/10.3390/fractalfract7080621 - 15 Aug 2023
Viewed by 793
Abstract
In this paper, two types of fractional-order damping are proposed for a single flexible link: internal and external friction, related to the material of the link and the environment, respectively. Considering these dampings, the Laplace transform is used to obtain the exact model [...] Read more.
In this paper, two types of fractional-order damping are proposed for a single flexible link: internal and external friction, related to the material of the link and the environment, respectively. Considering these dampings, the Laplace transform is used to obtain the exact model of a slewing flexible link by means of the Euler–Bernoulli beam theory. The model obtained is used in a sensing antenna with the aim of accurately describing its dynamic behavior, thanks to the incorporation of the mentioned damping models. Therefore, experimental data are used to identify the damping phenomena of this system in the frequency domain. Welch’s method is employed to estimate the experimental frequency responses. To determine the best damping model for the sensing antenna, a cost function with two weighting forms is minimized for different model structures (i.e., with internal and/or external dampings of integer- and/or fractional-order), and their robustness and fitting performance are analyzed. Full article
(This article belongs to the Special Issue Fractional Order Control Techniques for Robots)
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27 pages, 2096 KiB  
Article
Fractional Modeling and Control of Lightweight 1 DOF Flexible Robots Robust to Sensor Disturbances and Payload Changes
by Selma Benftima, Saddam Gharab and Vicente Feliu Batlle
Fractal Fract. 2023, 7(7), 504; https://doi.org/10.3390/fractalfract7070504 - 26 Jun 2023
Cited by 1 | Viewed by 766
Abstract
Model design and motion control are considered the cornerstones of the robotic field that allow for achieving performance tasks. This article proposes a new dynamic modeling and control approach for very lightweight mechanical systems carrying payloads. The selection of the model and the [...] Read more.
Model design and motion control are considered the cornerstones of the robotic field that allow for achieving performance tasks. This article proposes a new dynamic modeling and control approach for very lightweight mechanical systems carrying payloads. The selection of the model and the design of the control are elaborated on using a fractional order framework under different conditions. The use of fractional order calculus is justified by the better performance that reveals a fractional order model compared to an integer order model of similar complexity. The mechanical structure of very lightweight manipulators has vibrations that impede the accurate positioning of their end effector. Moreover, they have actuators with high friction and sensors to measure the vibrations, which often are strain gauges, that have offset and high-frequency noise. All these mentioned problems might degrade the mechanical system’s performance. Hence, to overcome these inconveniences, two nested-loop controls are examined: an inner loop that controls the motor dynamics and removes the friction effects and an outer loop implemented to eliminate the beam vibrations by adapting the input-state feedback linearization technique. Then, we propose a new fractional order control scheme that (1) removes the strain gauge offset disturbances, (2) reduces the risk of the actuator’s saturation caused by the high-frequency noise of strain gauges and (3) reduces the dynamic effects of huge payload changes. We prove that our fractional controller has enhanced robustness with respect to the above-mentioned problems. Finally, the investigated approach is validated experimentally by applying it to a lightweight robot mounted on an air table. Full article
(This article belongs to the Special Issue Fractional Order Control Techniques for Robots)
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25 pages, 6143 KiB  
Article
Dynamic Feedforward-Based Fractional Order Impedance Control for Robot Manipulator
by Yixiao Ding, Ying Luo and Yangquan Chen
Fractal Fract. 2023, 7(1), 52; https://0-doi-org.brum.beds.ac.uk/10.3390/fractalfract7010052 - 01 Jan 2023
Cited by 1 | Viewed by 1367
Abstract
Impedance control is widely applied in contact force control for robot manipulators. The traditional impedance model is linear, and has limitations in describing the actual impedance force. In addition, time-varying and dynamic coupling characteristics pose critical challenges to high-speed and high-precision impedance control. [...] Read more.
Impedance control is widely applied in contact force control for robot manipulators. The traditional impedance model is linear, and has limitations in describing the actual impedance force. In addition, time-varying and dynamic coupling characteristics pose critical challenges to high-speed and high-precision impedance control. In this paper, a fractional order impedance controller (FOIC) is proposed for industrial robot manipulator control and a systematic FOIC parameters tuning strategy based on frequency-domain specifications is presented. In order to improve performance under dynamic disturbances, a dynamic feedforward-based fractional order impedance controller (DFF-FOIC) is further developed. The robot manipulator dynamics are investigated and the effectiveness of the DFF-FOIC is illustrated by simulation. Then, the DFF-FOIC is applied on a physical robot manipulator prototype. Our step force tracking test results show that the proposed FOIC has better control performance than an integer order impedance controller (IOIC), achieving a better step response with lower overshoot, less settling time, and smaller integral time absolute error (ITAE) than the IOIC under fair comparison conditions. Full article
(This article belongs to the Special Issue Fractional Order Control Techniques for Robots)
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18 pages, 4364 KiB  
Article
Modeling and Control of a Soft Robotic Arm Based on a Fractional Order Control Approach
by Carlos Relaño, Jorge Muñoz, Concepción A. Monje, Santiago Martínez and Daniel González
Fractal Fract. 2023, 7(1), 8; https://0-doi-org.brum.beds.ac.uk/10.3390/fractalfract7010008 - 22 Dec 2022
Cited by 6 | Viewed by 1840
Abstract
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; [...] Read more.
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. Full article
(This article belongs to the Special Issue Fractional Order Control Techniques for Robots)
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