Publication
Fractional Order Control of a Hexapod Robot
| dc.contributor.author | Silva, Manuel | |
| dc.contributor.author | Tenreiro Machado, J. A. | |
| dc.contributor.author | Lopes, A. M. | |
| dc.date.accessioned | 2019-04-09T11:47:58Z | |
| dc.date.embargo | 2115-01 | |
| dc.date.issued | 2004-12 | |
| 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 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. | pt_PT |
| dc.description.version | info:eu-repo/semantics/publishedVersion | pt_PT |
| dc.identifier.doi | 10.1007/s11071-004-3770-8 | pt_PT |
| dc.identifier.issn | 0924-090X | |
| dc.identifier.uri | http://hdl.handle.net/10400.22/13493 | |
| dc.language.iso | eng | pt_PT |
| dc.publisher | Springer | pt_PT |
| dc.relation.publisherversion | http://link.springer.com/article/10.1007/s11071-004-3770-8 | pt_PT |
| dc.subject | Hexapod robot | pt_PT |
| dc.subject | PD control | pt_PT |
| dc.subject | Cascade control | pt_PT |
| dc.subject | Saturation | pt_PT |
| dc.subject | Friction | pt_PT |
| dc.subject | Flexibility | pt_PT |
| dc.subject | Fractional-order control | pt_PT |
| dc.title | Fractional Order Control of a Hexapod Robot | pt_PT |
| dc.type | journal article | |
| dspace.entity.type | Publication | |
| oaire.citation.endPage | 433 | pt_PT |
| oaire.citation.startPage | 417 | pt_PT |
| oaire.citation.title | Nonlinear Dynamics | pt_PT |
| oaire.citation.volume | 38 | pt_PT |
| 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 | pt_PT |
| rcaap.type | article | pt_PT |
| relation.isAuthorOfPublication | 06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc | |
| relation.isAuthorOfPublication | 82cd5c17-07b6-492b-b3e3-ecebdad1254f | |
| relation.isAuthorOfPublication.latestForDiscovery | 06ad158b-a73e-4c2e-9ea6-5c023ba9b4cc |