Comparison of different orders padé fractional order PD 0.5 control algorithm implementations

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 2, Issue PART 1, 2006, Pages 373-378

  Silva, Manuel F ^a   Machado, J A Tenreiro ^a   Barbosa, Ramiro S ^a  

^a INSTITUTO SUPERIOR DE ENGENHARIA DO PORTO   (Portugal)

Author keywords

Control algorithms; Fractional order control; Locomotion; Performance analysis; Robotics

Indexed keywords

ALGORITHMS; APPLICATION PROGRAMS; BIPED LOCOMOTION; ROBOTICS; ROBOTS;

ABSOLUTE DENSITY; ALGORITHM IMPLEMENTATION; FRACTIONAL ORDER; FRACTIONAL ORDER CONTROL; FRACTIONAL-ORDER PD; JOINT ACTUATORS; PERFORMANCE ANALYSIS; TRAJECTORY ERRORS;

CONTROLLERS;

EID: 77953519289     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20060719-3-pt-4902.00063     Document Type: Conference Paper

References (4)

1. Silva, M. F. and Machado, J. A. T. (2005). Integer vs. Fractional Order Control of a Hexapod Robot, in Climbing and Walking Robots, Manuel A. Armada and Pablo Gonzaléz de Santos (Eds.), Springer, pp. 73-83.
2. Silva, M. F., Machado, J. A. T. and Barbosa, R. S. (2006). Complex-Order Dynamics in Hexapod Locomotion, Signal Processing. Accepted for publication.
3. Silva, M. F., Machado, J. A. T. and Lopes, A. M. (2003). Position / Force Control of a Walking Robot. MIROC -Machine Intelligence and Robot Control, 5, pp. 33-44.
4. Silva, M. F., Machado, J. A. T. and Lopes, A. M. (2005). Modelling and Simulation of Artificial Locomotion Systems, ROBOTICA, 23, pp. 595-606.