Fractional Control of Legged Robots

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 PDu controlle...

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Bibliographic Details
Main Author: Silva, Manuel S. (author)
Other Authors: Machado, J. A. Tenreiro (author)
Format: bookPart
Language:eng
Published: 2011
Subjects:
Fractional calculus
Dynamical systems
Robot control
Hexapod robot
Online Access:http://hdl.handle.net/10400.22/8894
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/8894
Description
Summary: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 PDu 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.

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