Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Tip control is a current open issue in soft robotics; therefore, it has received good amount of attention recent years. The desirable characteristics these robots turn well-solved problem classic robotics, like the end-effector kinematics and dynamics, into challenging problem. high redundancy condition hinders classical solutions, resulting controllers with very computational costs. In this paper, simplification proposed actuation setup I-Support robot, allowing use simple strategies for tip inclination control. order to verify approach, step input trajectory-tracking experiments were performed on single module zero output error all cases, including those where system was exposed disturbances. comparative results controllers, proportional integral derivative (PID) fractional robust (FOPI) controller, validate feasibility showing clear advantage controller robot compared integer controller.