Number of the records: 1

Analytical and LMI Based Design for the Acrobot Traking with Aplication to Robot WThe 10thalking

SYSNO ASEP	0331254
Document Type	C - Proceedings Paper (int. conf.)
R&D Document Type	Conference Paper
Title	Analytical and LMI Based Design for the Acrobot Traking with Aplication to Robot WThe 10thalking
Title	Porovnání analytických a numerických metod v oblasti řízení Acrobota
Author(s)	Anderle, M. (CZ) Čelikovský, Sergej (UTIA-B)_{RID, ORCID}
Source Title	Proceedings of the 10th International PhD Workshop on Systems and Control. - Praha : ÚTIA, AV ČR, 2009 / Hofman Radek ; Šmídl Václav ; Pavelková Lenka - ISBN 978-80-903834-3-2
Pages	s. 1-5
Number of pages	5 s.
Publication form	DVD Rom - DVD Rom
Action	10th International PhD Workshop on Systems and Control
Event date	22.09.2009-26.09.2009
VEvent location	Hluboka nad Vltavou
Country	CZ - Czech Republic
Event type	WRD
Language	eng - English
Country	CZ - Czech Republic
Keywords	underactuated mechanical systems ; exact feedback linearization ; walking robots
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 compare the performance of various techniques for the stabilization of the error dynamics of the Acrobot’s walking like reference trajectory. Both the walking reference planning and the tracking feedback design are based on the Acrobot’s model 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.
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