Browsing by Author "Silva, Manuel S."
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- Fractional Control of Legged RobotsPublication . Silva, Manuel S.; Machado, J. A. TenreiroFractional calculus (FC) is being used in several distinct areas of science and engineering, being recognized its ability to yield a superior modelling and control in many dynamical systems. This article illustrates the application of FC in the area of robot control. A Fractional order PDu controller is proposed for the control of an hexapod robot with 3 dof legs. It is demonstrated the superior performance of the system by using the FC concepts.
- Realization of Fractional-Order Controllers: Analysis, Synthesis and Application to the Velocity Control of a Servo SystemPublication . Barbosa, Ramiro S.; Jesus, Isabel S.; Silva, Manuel S.; Machado, J. A. TenreiroThe synthesis and application of fractional-order controllers is now an active research field. This article investigates the use of fractional-order PID controllers in the velocity control of an experimental modular servo system. The system consists of a digital servomechanism and open-architecture software environment for real-time control experiments using MATLAB/Simulink. Different tuning methods will be employed, such as heuristics based on the well-known Ziegler-Nichols rules, techinques based on Bode's ideal transfer function and optimization tuning methods. Experiemntal responses obtained from the application of the several fractional-order controllers are presented and analyzed. The effectiveness and superior performance of the proposed algorithms are also compared with classical integer-order PID controllers.