Using fractional derivatives for the joint ontrol of hexapod robots

Detalhes bibliográficos
Autor(a) principal: Silva, Manuel F.
Data de Publicação: 2008
Outros Autores: Machado, J. A. Tenreiro, Barbosa, Ramiro S.
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/4570
Resumo: This article studies several Fractional Order Control algorithms used for joint control of a hexapod robot. Both Padé and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density of energy used per unit distance travelled, and the control effort. A set of simulation experiments reveals the influence of the different approximations upon the proposed indices. The results show that the fractional proportional and derivative algorithm, implemented using the Padé approximation with a small number of terms, gives the best results.
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spelling Using fractional derivatives for the joint ontrol of hexapod robotsRoboticsLocomotionControl algorithmsFractional calculusPerformance analysisThis article studies several Fractional Order Control algorithms used for joint control of a hexapod robot. Both Padé and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density of energy used per unit distance travelled, and the control effort. A set of simulation experiments reveals the influence of the different approximations upon the proposed indices. The results show that the fractional proportional and derivative algorithm, implemented using the Padé approximation with a small number of terms, gives the best results.SAGE PublicationsRepositório Científico do Instituto Politécnico do PortoSilva, Manuel F.Machado, J. A. TenreiroBarbosa, Ramiro S.2014-06-25T10:40:03Z20082008-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/4570eng1077-5463metadata 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:RCAAP2023-03-13T12:44:41Zoai:recipp.ipp.pt:10400.22/4570Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T17:25:24.893231Repositório 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 Using fractional derivatives for the joint ontrol of hexapod robots
title Using fractional derivatives for the joint ontrol of hexapod robots
spellingShingle Using fractional derivatives for the joint ontrol of hexapod robots
Silva, Manuel F.
Robotics
Locomotion
Control algorithms
Fractional calculus
Performance analysis
title_short Using fractional derivatives for the joint ontrol of hexapod robots
title_full Using fractional derivatives for the joint ontrol of hexapod robots
title_fullStr Using fractional derivatives for the joint ontrol of hexapod robots
title_full_unstemmed Using fractional derivatives for the joint ontrol of hexapod robots
title_sort Using fractional derivatives for the joint ontrol of hexapod robots
author Silva, Manuel F.
author_facet Silva, Manuel F.
Machado, J. A. Tenreiro
Barbosa, Ramiro S.
author_role author
author2 Machado, J. A. Tenreiro
Barbosa, Ramiro S.
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
Barbosa, Ramiro S.
dc.subject.por.fl_str_mv Robotics
Locomotion
Control algorithms
Fractional calculus
Performance analysis
topic Robotics
Locomotion
Control algorithms
Fractional calculus
Performance analysis
description This article studies several Fractional Order Control algorithms used for joint control of a hexapod robot. Both Padé and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density of energy used per unit distance travelled, and the control effort. A set of simulation experiments reveals the influence of the different approximations upon the proposed indices. The results show that the fractional proportional and derivative algorithm, implemented using the Padé approximation with a small number of terms, gives the best results.
publishDate 2008
dc.date.none.fl_str_mv 2008
2008-01-01T00:00:00Z
2014-06-25T10:40:03Z
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/10400.22/4570
url http://hdl.handle.net/10400.22/4570
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 1077-5463
dc.rights.driver.fl_str_mv metadata only access
info:eu-repo/semantics/openAccess
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 SAGE Publications
publisher.none.fl_str_mv SAGE Publications
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
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reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
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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