Autor(es): Silva, Manuel F. ; Machado, J. A. Tenreiro ; Lopes, António M.
Data: 2005
Identificador Persistente: http://hdl.handle.net/10400.22/4571
Origem: Repositório Científico do Instituto Politécnico do Porto
Detalhes do Documento
Integer vs. fractional order control of a hexapod robot
Descrição
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.
Tipo de Documento
Capitulo
Idioma Inglês
Contribuidor(es) REPOSITÓRIO P.PORTO
Idioma Inglês
Contribuidor(es) REPOSITÓRIO P.PORTO
