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LMI based design for the Acrobot walking
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SYSNO ASEP 0329388 Document Type C - Proceedings Paper (int. conf.) R&D Document Type Conference Paper Title LMI based design for the Acrobot walking Title Návrh chůze Acrobota pomocí LMI metod Author(s) Anderle, Milan (UTIA-B) RID, ORCID
Čelikovský, Sergej (UTIA-B) RID, ORCID
Henrion, D. (FR)
Zikmund, Jiří (UTIA-B) RIDSource Title Preprints of the 9th IFAC Symposium on Robot Control. - Gifu : IFAC, 2009 Pages s. 595-600 Number of pages 6 s. Publication form DVD rom - DVD rom Action SYROCO'09 Event date 09.09.2009-12.09.2009 VEvent location Gifu Country JP - Japan Event type WRD Language eng - English Country JP - Japan Keywords Linear matrix inequalities (LMI) ; underactuated mechanical systems ; walking robots Subject RIV BC - Control Systems Theory R&D Projects GA102/08/0186 GA ČR - Czech Science Foundation (CSF) LA09026 GA MŠMT - Ministry of Education, Youth and Sports (MEYS) CEZ AV0Z10750506 - UTIA-B (2005-2011) Annotation This paper aims to further improve previously developed design for Acrobot walking based on 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 being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilizing a linear system with polytopic uncertainty. The current improvement is based on applying 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. Workplace Institute of Information Theory and Automation Contact Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201. Year of Publishing 2010
Number of the records: 1