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Analytical design of the Acrobot exponential tracking with applicationt to its walking
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SYSNO ASEP 0334189 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title Analytical design of the Acrobot exponential tracking with applicationt to its walking Title Analytický návrh exponenciálního sledování pro Acrobot a její využítí k chůzi Author(s) Anderle, Milan (UTIA-B) RID, ORCID
Čelikovský, S. (CZ)Source Title Proceedings of the Seventh IEEE International Conference on Control and Automation, Library Catalog Number: CFP09537-CDR. - Christchurch : IEEE, 2009 - ISBN 978-1-4244-4707-7 Pages s. 163-168 Number of pages 6 s. Publication form DVD Rom - DVD Rom Action Seventh IEEE International Conference on Control and Automation Event date 09.12.2009-11.12.2009 VEvent location Christchurch Country NZ - New Zealand Event type WRD Language eng - English Country NZ - New Zealand Keywords Acrobot ; walking robots ; partial exact feedback linearization ; tracking Subject RIV BC - Control Systems Theory R&D Projects GA102/08/0186 GA ČR - Czech Science Foundation (CSF) CEZ AV0Z10750506 - UTIA-B (2005-2011) Annotation This paper aims to further improve previously developed design for the Acrobot walking based on the partial exact feedback linearization 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 3 time varying entries only, the remaining entries are either zero or equal to one. Previously, the exponentially stable tracking was obtained by solving quadratic stability of a linear system with polytopic uncertainty applying LMI methods to solve this problem numerically. Here, the new approach is presented allowing to design the tracking feedback and to prove the corresponding stability completely analytically. Moreover, this approach gives even better results than the LMI based one in the sense of the convergence speed. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2010
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