Stability analysis of the Acrobot walking with observed geometry

0364864 - ÚTIA 2012 RIV IT eng C - Conference Paper (international conference)
Anderle, Milan - Čelikovský, Sergej
Stability analysis of the Acrobot walking with observed geometry.
Proceedings of the 18th IFAC World Congress. Milano: IFAC - International Fedaration of Automatic Control, 2011 - (Bittanti; Cenedese; Zampieri), od 1046-do 1051. ISBN 978-3-902661-93-7.
[The 18th IFAC World Congress. Milano (IT), 28.08.2011-02.09.2011]
R&D Projects: GA MŠMT LA09026
Grant - others:GA ČR(CZ) GAP103/10/0628
Program: GA
Institutional research plan: CEZ:AV0Z10750506
Keywords : Walking robots * Nonlinear control * Stability analysis
Subject RIV: BC - Control Systems Theory

This paper aims to extend of the previously developed analytical design for the Acrobot walking. The corresponding state feedback controller is completed in this paper by an observer to estimate some states of the Acrobot. Both the controller and the observer are based on the partial exact feedback linearization of order 3. The feedback controller and the observer are extended for the tracking of the cyclic walking-like trajectory in order to demonstrate the cyclic Acrobot walking. The cyclic walking-like trajectory starts continuous phase from certain initial conditions, that at the end of the step makes an impact and after the impact it reaches the same initial conditions as at the beginning of the step. This cyclic motion of the Acrobot enable us to prove the stability of the feedback tracking with the observer numericaly by the method of Poincar e mappings.
Permanent Link: http://hdl.handle.net/11104/0200234