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...

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Bibliographic Details
Main Author: Silva, Manuel (author)
Other Authors: Tenreiro Machado, J. A. (author), Barbosa, Ramiro (author)
Format: conferenceObject
Language:eng
Published: 2019
Subjects:
Robotics
Locomotion
Control algorithms
Fractional-order control
Performance analysis
Online Access:http://hdl.handle.net/10400.22/13325
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/13325

Internet

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

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