Abstract

Abstract

Abstract
Fractional Calculus (FC) goes back to the beginning of the theory of differential calculus. Nevertheless, the application of FC just emerged in the last two decades. It has been recognized the advantageous use of this mathematical tool in the modelling and control of many dynamical systems. Having these ideas in mind, this paper discusses a FC perspective in the study of the dynamics and control of several systems. The paper investigates the use of FC in the fields of controller tuning, legged robots, electrical systems and digital circuit synthesis.

Abstract
This paper presents the development of an autonomous mobile robot controlled by a fuzzy logic controller (FLC). The robot is capable of performing several behavior-based tasks, such as to follow walls and avoid obstacles, and can be used for the embodiment of different behaviors. Experimental results are given to assess the performance of the FLC and to validate the adopted design options for the construction and control of the robot.

Abstract
This paper presents the Human-Machine Interface developed for the manual and automatic control of a wheeled climbing robot, with adhesion through permanent magnets. This machine has been developed with the intention of being used in the inspection of ferromagnetic structures, in order to, for instance, detect weaknesses due to corrosion. Although it can be manually controlled, the vehicle is designed to have a semi-autonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even while crossing irregular and curved surfaces.

Abstract
Fractional calculus (FC) is being used in several distinct areas of science and engineering, being recognized its ability to yield a superior modelling and control in many dynamical systems. This article illustrates the application of FC in the area of robot control. A Fractional Order PD mu controller is proposed for the control of an hexapod robot with 3 dof legs. It is demonstrated the superior performance of the system by using the FC concepts.