Publicação
Integer vs. fractional order control of a hexapod robot
| dc.contributor.author | Silva, Manuel F. | |
| dc.contributor.author | Machado, J. A. Tenreiro | |
| dc.contributor.author | Lopes, António M. | |
| dc.date.accessioned | 2014-06-25T10:41:53Z | |
| dc.date.available | 2014-06-25T10:41:53Z | |
| dc.date.issued | 2005 | |
| dc.description.abstract | This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The controller performance is analised through the Nyquist stability criterion. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics. | por |
| dc.identifier.doi | 10.1007/3-540-29461-9_5 | |
| dc.identifier.isbn | 978-3-540-22992-6 | |
| dc.identifier.isbn | 978-3-540-29461-0 | |
| dc.identifier.uri | http://hdl.handle.net/10400.22/4571 | |
| dc.language.iso | eng | por |
| dc.peerreviewed | yes | por |
| dc.publisher | Springer | por |
| dc.relation.ispartofseries | Climbing and Walking Robots; Part II | |
| dc.relation.publisherversion | http://link.springer.com/chapter/10.1007%2F3-540-29461-9_5 | por |
| dc.title | Integer vs. fractional order control of a hexapod robot | por |
| dc.type | book part | |
| dspace.entity.type | Publication | |
| oaire.citation.conferencePlace | Proceedings of the 7th International Conference CLAWAR 2004 | por |
| oaire.citation.endPage | 83 | por |
| oaire.citation.startPage | 73 | por |
| oaire.citation.title | Climbing and Walking Robots | por |
| person.familyName | Silva | |
| person.familyName | Tenreiro Machado | |
| person.givenName | Manuel | |
| person.givenName | J. A. | |
| person.identifier | R-000-A3Q | |
| person.identifier.ciencia-id | AB11-C518-AF50 | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0002-0593-2865 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-5767-2013 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55934287000 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | closedAccess | por |
| rcaap.type | bookPart | por |
| relation.isAuthorOfPublication | 06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc | |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc |