Comparison of Different Fractional Order PD0.5 Control Algorithm Implementations for Legged Robots

This paper studies different Fractional Order (FO) PD0.5 algorithms applied to the leg joint control of a hexapod robot with two dof legs. For the implementation of the FO PD0.5 joint controllers both the Padé and the series approximations are considered, being compared their performance. For simula...

ver descrição completa

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/10400.22/13325
País:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13325

Texto Completo

http://hdl.handle.net/10400.22/13325

Registos relacionados