A Robust Control Method for the Elbow of the Humanoid Robot TEO Based on a Fractional Order Controller

Jorge Muñoz; Concepción A. Monje; Fernando Martín; Carlos Balaguer

IROS 2018poster2 citations

A Robust Control Method for the Elbow of the Humanoid Robot TEO Based on a Fractional Order Controller

Jorge Muñoz, Concepción A. Monje, Fernando Martín, Carlos Balaguer

Abstract

This paper presents a novel method for the control of the elbow joint of the humanoid robot TEO, based on a fractional order PD controller. Due to the graphical nature of the proposed method, a few basic operations are enough to tune the controller, 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 right arm.

BibTeX

@inproceedings{iros2018_arobustcontrolme,
  title = {A Robust Control Method for the Elbow of the Humanoid Robot TEO Based on a Fractional Order Controller},
  author = {Jorge Muñoz and Concepción A. Monje and Fernando Martín and Carlos Balaguer},
  booktitle = {IROS 2018},
  year = {2018}
}