Comparison of different orders padé fractional order PD0.5 control algorithm implementations

This paper studies the performance of different order Padé Fractional Order (FO) PD0.5 controllers applied to the leg joint control of a hexapod robot with two dof legs and joint actuators with saturation. For simulation purposes the robot prescribed motion is characterized through several locomotio...

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Detalhes bibliográficos
Autor principal: Silva, Manuel (author)
Outros Autores: Tenreiro Machado, J. A. (author), Barbosa, Ramiro (author)
Formato: conferenceObject
Idioma:eng
Publicado em: 2019
Assuntos:
Robotics
Locomotion
Control algorithms
Fractional-order control
Performance analysis
Texto completo:http://hdl.handle.net/10400.22/13309
País:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13309

Texto Completo

http://hdl.handle.net/10400.22/13309

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