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Integer vs. Fractional Order Control of a Hexapod Robot

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Climbing and Walking Robots

Summary

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 controller performance is analised through the Nyquist stability criterion. A set of model-based experiments reveals the influence of the different controller implementations upon the proposed metrics.

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References

  1. Martins-Filho LS, Silvino JL, Resende P and Assunção TC (2003) Control of Robotic Leg Joints — Comparing PD and Sliding Mode Approaches. In: Muscato G and Longo D. (eds) Proc. CLAWAR’2003 — 6th Int. Conf. on Climbing and Walking Robots, Catania, Italy, 147–153.

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  3. Song J, Low KH and Guo W (1999) A Simplified Hybrid Force/Position Controller Method for the Walking Robots. Robotica 17:583–589.

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  4. Silva MF, Machado JAT and Lopes AM (2003) Comparison of fractional and integer order control of an hexapod robot. In: Proc. VIB 2003 — ASME Int. 19th Biennial Conf. on Mech. Vib. and Noise, ASME, Chicago, Illinois, USA.

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  5. Silva MF, Machado JAT and Lopes AM (2003) Position / Force Control of a Walking Robot. MIROC-Machine Intelligence and Robotic Control 5:33–44.

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  6. Silva MF, Machado JAT and Lopes AM (2004) Fractional Order Control of a Hexapod Robot. Accepted for publication at Nonlinear Dynamics.

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Author information

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. Tenreiro Machado

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

    António M. Lopes

Authors
  1. Manuel F. Silva
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  2. J. A. Tenreiro Machado
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  3. António M. Lopes
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© 2005 Springer-Verlag Berlin Heidelberg

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Silva, M.F., Tenreiro Machado, J.A., Lopes, A.M. (2005). Integer vs. Fractional Order Control of a Hexapod Robot. In: Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-29461-9_5

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  • DOI: https://doi.org/10.1007/3-540-29461-9_5

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-22992-6

  • Online ISBN: 978-3-540-29461-0

  • eBook Packages: EngineeringEngineering (R0)

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