Fractional order control of a hexapod robot

• Type: Article in International Scientific Journal
• Date: 2004

Authors

Manuel F. Silva (Author) Other; José António T. Machado (Author) Other; António Lopes (Author) FEUP

Journal

Title: Nonlinear Dynamics

Vol. 38 No. 1

Pages: 417-433

ISSN: 0924-090X

Publisher: Springer Nature

Indexing

ISI Web of Knowledge - 90 Citations

ISI Web of Science

Scopus - 102 Citations

COMPENDEX

INSPEC

Scientific classification

FOS: Engineering and technology > Mechanical engineering

Other information

Authenticus ID: P-000-7KG

DOI: 10.1007/s11071-004-3770-8

Abstract (EN): 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 17