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Journal of Vibration and Control
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Using Fractional Derivatives in Joint Control of Hexapod Robots

Manuel F. Silva

Department of Electrical Engineering, Institute of Engineering of Porto, Rua Dr. António Bernardino de Almeida, 4200 - 072 Porto, Portugal, mss{at}isep.ipp.pt

J.A. Tenreiro Macahdo

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

Ramiro S. Barbosa

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

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 of energy used per unit distance travelled, and the control effort. A set of simulation experiments reveals the influence of the different approximations upon the proposed indices. The results show that the fractional proportional and derivative algorithm, implemented using the Padé approximation with a small number of terms, gives the best results.

Key Words: Robotics • locomotion • control algorithms • fractional calculus • performance analysis

Journal of Vibration and Control, Vol. 14, No. 9-10, 1473-1485 (2008)
DOI: 10.1177/1077546307087436
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