Autor(es): Silva, Manuel F. ; Machado, J. A. Tenreiro
Data: 2011
Identificador Persistente: http://hdl.handle.net/10400.22/4196
Origem: Repositório Científico do Instituto Politécnico do Porto
Detalhes do Documento
Fractional control of legged robots
Descrição
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.
Tipo de Documento
Capitulo
Idioma Inglês
Contribuidor(es) REPOSITÓRIO P.PORTO
Idioma Inglês
Contribuidor(es) REPOSITÓRIO P.PORTO
