Fractional Order Control of a Hexapod Robot

Silva, Manuel; Tenreiro Machado, J. A.; Lopes, A. M.

http://hdl.handle.net/10400.22/13493

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Autores

Silva, Manuel

Tenreiro Machado, J. A.

Lopes, A. M.

Resumo(s)

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 walking performance is analysed through the Nyquist stability criterion and several indices that reflect the system dynamical properties. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

Palavras-chave

Hexapod robot PD control Cascade control Saturation Friction Flexibility Fractional-order control

URI

http://hdl.handle.net/10400.22/13493

Editora

Springer

DOI

10.1007/s11071-004-3770-8

Coleções

ISEP - DEE - Artigos

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