Author(s): Silva, Manuel F. ; Machado, J. A. Tenreiro ; Lopes, António M.
Date: 2005
Persistent ID: http://hdl.handle.net/10400.22/4571
Origin: Repositório Científico do Instituto Politécnico do Porto
Document details
Integer vs. fractional order control of a hexapod robot
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.
Document Type
Book part
Language English
Contributor(s) REPOSITÓRIO P.PORTO
Language English
Contributor(s) REPOSITÓRIO P.PORTO
