Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/4570
Título: Using fractional derivatives for the joint ontrol of hexapod robots
Autor: Silva, Manuel F.
Machado, J. A. Tenreiro
Barbosa, Ramiro S.
Palavras-chave: Robotics
Locomotion
Control algorithms
Fractional calculus
Performance analysis
Data: 2008
Editora: SAGE Publications
Relatório da Série N.º: Journal of Vibration and Control; Vol. 14, Issues 9-10
Resumo: This article studies several Fractional Order Control algorithms used for joint control of a hexapod robot. Both Padé and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density of energy used per unit distance travelled, and the control effort. A set of simulation experiments reveals the influence of the different approximations upon the proposed indices. The results show that the fractional proportional and derivative algorithm, implemented using the Padé approximation with a small number of terms, gives the best results.
Peer review: yes
URI: http://hdl.handle.net/10400.22/4570
ISSN: 1077-5463
1741-2986
Versão do Editor: http://jvc.sagepub.com/content/14/9-10/1473.abstract
Aparece nas colecções:ISEP - DEE - Artigos

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