期刊
NONLINEAR DYNAMICS
卷 38, 期 1-4, 页码 417-433出版社
SPRINGER
DOI: 10.1007/s11071-004-3770-8
关键词
cascade control; friction; flexibility; fractional-order control; hexapod robot; PD control; saturation
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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