Analyse et commande des systemes mecaniques sous-actionnes avec application aux robots a pattes

0317951 - ÚTIA 2009 FR eng D - Thesis
Zikmund, Jiří
Analyse et commande des systemes mecaniques sous-actionnes avec application aux robots a pattes.
[Analysis and Control of Underactuated Mechanical Systems with Application to Walking Robots.]
ÚTIA AV ČR v.v.i. Defended: Praha. 06.06.2008. - Nantes: Université de Nantes, 2008. 128 s.
R&D Projects: GA ČR(CZ) GA102/08/0186
Institutional research plan: CEZ:AV0Z10750506
Keywords : mechanical systems * nonlinear control
Subject RIV: BC - Control Systems Theory

A new control concept for a class of simple underactuated mechanical system, the so-called Acrobot, is presented here. Despite being seemingly a simple system, the acrobot comprises many important difficulties when controlling the most challenging underactuated system - the walking robot. This paper presents the design of the asymptotical tracking of the prescribed trajectory generated by a suitable openloop input of the acrobot. Such a design is based on the partial exact linearization of the third order combined with a certain robust stabilization technique. The proposed control is then demonstrated by the exponential tracking of the walkinglike trajectory of the acrobot. Besides theoretical proofs, our approach is supported by numerical simulations and illustrated by acrobot movement animations.

Práce se zabývá částečnou přesnou linearizací a jejím využitím k návrhu chůze jednoduchého robota. Obsahuje i návrh trajektorie chůze a její zpětnovazebnou stabilizaci, včetně Ljapunovského důkazu robustní stability.
Permanent Link: http://hdl.handle.net/11104/0167459