This paper presents a control scheme for the humanoid robot TEO’s elbow joint based on a novel tuning method for fractional-order PD and PI controllers. Due to the graphical nature of the proposed method, a few basic operations are enough to tune the controllers, 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 arm.

中文翻译：

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基于分数阶PD和PI控制器的人形机器人TEO手臂关节位置控制

本文提出了一种基于分数阶 PD 和 PI 控制器的新型调谐方法的仿人机器人 TEO 肘关节控制方案。由于所提出方法的图形性质，一些基本操作就足以调整控制器，与经典方法相比，提供了非常有竞争力的结果。实验表明，该系统对人形手臂尖端的质量变化具有强大的性能。