Fractional Order Control of a Hexapod Robot

Detalhes bibliográficos
Autor(a) principal: Silva, Manuel
Data de Publicação: 2004
Outros Autores: Tenreiro Machado, J. A., Lopes, A. M.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/13493
Resumo: 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.
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spelling Fractional Order Control of a Hexapod RobotHexapod robotPD controlCascade controlSaturationFrictionFlexibilityFractional-order controlThis 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.SpringerRepositório Científico do Instituto Politécnico do PortoSilva, ManuelTenreiro Machado, J. A.Lopes, A. M.2004-122115-01-01T00:00:00Z2004-12-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/13493eng0924-090X10.1007/s11071-004-3770-8metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:49:02Zoai:recipp.ipp.pt:10400.22/13493Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:28:45.632454Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Fractional Order Control of a Hexapod Robot
title Fractional Order Control of a Hexapod Robot
spellingShingle Fractional Order Control of a Hexapod Robot
Silva, Manuel
Hexapod robot
PD control
Cascade control
Saturation
Friction
Flexibility
Fractional-order control
title_short Fractional Order Control of a Hexapod Robot
title_full Fractional Order Control of a Hexapod Robot
title_fullStr Fractional Order Control of a Hexapod Robot
title_full_unstemmed Fractional Order Control of a Hexapod Robot
title_sort Fractional Order Control of a Hexapod Robot
author Silva, Manuel
author_facet Silva, Manuel
Tenreiro Machado, J. A.
Lopes, A. M.
author_role author
author2 Tenreiro Machado, J. A.
Lopes, A. M.
author2_role author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Silva, Manuel
Tenreiro Machado, J. A.
Lopes, A. M.
dc.subject.por.fl_str_mv Hexapod robot
PD control
Cascade control
Saturation
Friction
Flexibility
Fractional-order control
topic Hexapod robot
PD control
Cascade control
Saturation
Friction
Flexibility
Fractional-order control
description 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.
publishDate 2004
dc.date.none.fl_str_mv 2004-12
2004-12-01T00:00:00Z
2115-01-01T00:00:00Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13493
url http://hdl.handle.net/10400.22/13493
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 0924-090X
10.1007/s11071-004-3770-8
dc.rights.driver.fl_str_mv metadata only access
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rights_invalid_str_mv metadata only access
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Springer
publisher.none.fl_str_mv Springer
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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