Using fractional derivatives for the joint ontrol of hexapod robots

This article studies several Fractional Order Control algorithms used for joint control of a hexapod robot. Both Padé and series approximations to the fractional derivative are considered for the control algorithm. The walking performance is evaluated through two indices: The mean absolute density o...

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Detalhes bibliográficos
Autor principal: Silva, Manuel F. (author)
Outros Autores: Machado, J. A. Tenreiro (author), Barbosa, Ramiro S. (author)
Formato: article
Idioma:eng
Publicado em: 2014
Assuntos:
Robotics
Locomotion
Control algorithms
Fractional calculus
Performance analysis
Texto completo:http://hdl.handle.net/10400.22/4570
País:Portugal
Oai:oai:recipp.ipp.pt:10400.22/4570

Texto Completo

http://hdl.handle.net/10400.22/4570

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