Integer vs. Fractional Order Control of a Hexapod Robot

Detalhes bibliográficos
Autor(a) principal: Silva, Manuel F.
Data de Publicação: 2004
Outros Autores: Machado, J. A. Tenreiro, Lopes, António M.
Tipo de documento: Livro
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/8814
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 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.
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spelling Integer vs. Fractional Order Control of a Hexapod RobotFractional orderHexapodThis 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.SpringerRepositório Científico do Instituto Politécnico do PortoSilva, Manuel F.Machado, J. A. TenreiroLopes, António M.20042115-01-01T00:00:00Z2004-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/bookapplication/pdfhttp://hdl.handle.net/10400.22/8814eng978-3-540-22992-6978-3-540-29461-010.1007/3-540-29461-9_5metadata 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:RCAAP2023-03-13T12:48:55Zoai:recipp.ipp.pt:10400.22/8814Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:28:39.176722Repositório 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 Integer vs. Fractional Order Control of a Hexapod Robot
title Integer vs. Fractional Order Control of a Hexapod Robot
spellingShingle Integer vs. Fractional Order Control of a Hexapod Robot
Silva, Manuel F.
Fractional order
Hexapod
title_short Integer vs. Fractional Order Control of a Hexapod Robot
title_full Integer vs. Fractional Order Control of a Hexapod Robot
title_fullStr Integer vs. Fractional Order Control of a Hexapod Robot
title_full_unstemmed Integer vs. Fractional Order Control of a Hexapod Robot
title_sort Integer vs. Fractional Order Control of a Hexapod Robot
author Silva, Manuel F.
author_facet Silva, Manuel F.
Machado, J. A. Tenreiro
Lopes, António M.
author_role author
author2 Machado, J. A. Tenreiro
Lopes, António 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 F.
Machado, J. A. Tenreiro
Lopes, António M.
dc.subject.por.fl_str_mv Fractional order
Hexapod
topic Fractional order
Hexapod
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 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.
publishDate 2004
dc.date.none.fl_str_mv 2004
2004-01-01T00:00:00Z
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/book
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status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/8814
url http://hdl.handle.net/10400.22/8814
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 978-3-540-22992-6
978-3-540-29461-0
10.1007/3-540-29461-9_5
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
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