Advanced LMI based analysis and design for Acrobot walking

0345550 - ÚTIA 2011 RIV GB eng J - Journal Article
Anderle, Milan - Čelikovský, Sergej - Henrion, D. - Zikmund, Jiří
Advanced LMI based analysis and design for Acrobot walking.
International Journal of Control. Roč. 83, č. 8 (2010), s. 1641-1652. ISSN 0020-7179. E-ISSN 1366-5820
R&D Projects: GA ČR(CZ) GA102/08/0186; GA MŠMT LA09026
Institutional research plan: CEZ:AV0Z10750506
Keywords : linear matrix inequalities * underactuated mechanical systems * walking robots
Subject RIV: BC - Control Systems Theory
Impact factor: 0.848, year: 2010
http://library.utia.cas.cz/separaty/2010/TR/anderle-0345550.pdf

This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4-dimensional linear time-varying system having three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (LMI) methods to solve this problem numerically. This careful analysis significantly improves previously known approaches. Numerical simulations of Acrobot walking based on the above-mentioned LMI design are demonstrated as well.
Permanent Link: http://hdl.handle.net/11104/0186797