Author(s): Silva, Manuel F. ; Machado, J. A. Tenreiro
Date: 2011
Persistent ID: http://hdl.handle.net/10400.22/4196
Origin: Repositório Científico do Instituto Politécnico do Porto
Document details
Fractional control of legged robots
Description
Fractional calculus (FC) is being used in several distinct areas of science and engineering, being recognized its ability to yield a superior modelling and control in many dynamical systems. This article illustrates the application of FC in the area of robot control. A Fractional Order PDμ controller is proposed for the control of an hexapod robot with 3 dof legs. It is demonstrated the superior performance of the system by using the FC concepts.
Document Type
Book part
Language English
Contributor(s) REPOSITÓRIO P.PORTO
Language English
Contributor(s) REPOSITÓRIO P.PORTO
