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Fractional Order Control of a Hexapod Robot

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Abstract

This paper studies the performance of integer and fractional order controllers in a hexapod robot with joints at the legs having viscous friction and flexibility. For that objective the robot prescribed motion is characterized in terms of several locomotion variables. The walking performance is analysed through the Nyquist stability criterion and several indices that reflect the system dynamical properties. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

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Authors and Affiliations

  1. Department of Electrical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 4200-072, Porto, Portugal

    Manuel F. Silva & J. A. T. Machado

  2. Department of Mechanical Engineering, Faculty of Engineering of Porto, Rua Dr. Roberto Frias, 4200-465, Porto, Portugal

    A. M. Lopes

Authors
  1. Manuel F. Silva
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  2. J. A. T. Machado
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  3. A. M. Lopes
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Corresponding author

Correspondence to Manuel F. Silva.

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Silva, M., Machado, J. & Lopes, A. Fractional Order Control of a Hexapod Robot. Nonlinear Dyn 38, 417–433 (2004). https://doi.org/10.1007/s11071-004-3770-8

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  • DOI: https://doi.org/10.1007/s11071-004-3770-8

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