Publication
Fractional-order position/Force robot control
| dc.contributor.author | Ferreira, N. M. Fonseca | |
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.contributor.author | Cunha, J. Boaventura | |
| dc.date.accessioned | 2019-04-09T09:45:37Z | |
| dc.date.available | 2019-04-09T09:45:37Z | |
| dc.date.issued | 2005 | |
| dc.description.abstract | This paper studies fractional order (FO) position/force algorithms in the hybrid control (HC) and the cascade control (CC) of manipulators. The system performance is analyzed in the time and frequency domains, and the effects of joined backlash and flexibility are investigated. The result show that the FO algorithms and the CC architecture have superior robustness and stability. | pt_PT |
| dc.description.version | N/A | pt_PT |
| dc.identifier.doi | 10.20965/jaciii.2005.p0379 | pt_PT |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13482 | |
| dc.language.iso | eng | pt_PT |
| dc.subject | Robotics | pt_PT |
| dc.subject | Fractional Calculus | pt_PT |
| dc.subject | Control | pt_PT |
| dc.subject | Force | pt_PT |
| dc.subject | Backlash | pt_PT |
| dc.title | Fractional-order position/Force robot control | pt_PT |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 385 | pt_PT |
| oaire.citation.startPage | 379 | pt_PT |
| oaire.citation.title | Journal of Advanced Computational Intelligence and Intelligent Informatics | pt_PT |
| oaire.citation.volume | 9 | pt_PT |
| person.familyName | Tenreiro Machado | |
| person.givenName | J. A. | |
| person.identifier.ciencia-id | 7A18-4935-5B29 | |
| person.identifier.orcid | 0000-0003-4274-4879 | |
| person.identifier.rid | M-2173-2013 | |
| person.identifier.scopus-author-id | 55989030100 | |
| rcaap.rights | openAccess | pt_PT |
| rcaap.type | article | pt_PT |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 82cd5c17-07b6-492b-b3e3-ecebdad1254f |