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Applications of Fractional Operators in Robotics: A Review

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Abstract

This manuscript presents a bibliographic review on fractional-order control laws applied to robotics manipulators, robot vehicles, man-robot systems, as well as biologically inspired robots. The bibliographic review comprises a search about the control strategies design and definitions of fractional calculus used in several robot systems, as manipulator’s arms, Wheeled Mobile Robots (WMRs), exoskeletons, humanoids. Also, the main contributions of fractional-order control laws are presented, such as, improve robustness, reduce steady-state error, and reducing energy consumption. Moreover, the optimization methods used to get the controllers’ parameters are presented.

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Acknowledgments

The authors would like to thank to the referees for their useful comments and remarks. Samuel Chávez-Vázquez acknowledges the support provided by CONACyT through the assignment doctoral fellowship. José Francisco Gómez Aguilar acknowledges the support provided by CONACyT: cátedras CONACyT para jóvenes investigadores 2014 and SNI-CONACyT.

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  1. Centro Nacional de Investigación y Desarrollo Tecnológico, Tecnológico Nacional de México, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490, Cuernavaca, Morelos, Mexico

    S. Chávez-Vázquez, J. E. Lavín-Delgado, R. F. Escobar-Jiménez & V. H. Olivares-Peregrino

  2. CONACYT-Centro Nacional de Investigación y Desarrollo Tecnológico, Tecnológico Nacional de México, Interior Internado Palmira S/N, Col. Palmira, C.P. 62490, Cuernavaca, Morelos, Mexico

    J. F. Gómez-Aguilar

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Contributions

S. Chávez-Vázquez: Conceptualization, Methodology, Writing- Original draft preparation; J.F. Gómez-Aguilar: Conceptualization, Methodology, Writing- Original draft preparation, Supervision; J.E. Lavín-Delgado: Methodology, Data curation, Writing- Original draft preparation; R.F. Escobar-Jiménez: Data curation, Writing original draft preparation, Methodology; V.H. Olivares-Peregrino: Conceptualization, Methodology, Writing- Original draft preparation. All authors read and approved the final manuscript.

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Chávez-Vázquez, S., Gómez-Aguilar, J.F., Lavín-Delgado, J.E. et al. Applications of Fractional Operators in Robotics: A Review. J Intell Robot Syst 104, 63 (2022). https://doi.org/10.1007/s10846-022-01597-1

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