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Comparison of Nonlinear Observers for Underactuated Mechanical Systems

SYSNO ASEP	0345412
Document Type	C - Proceedings Paper (int. conf.)
R&D Document Type	Conference Paper
Title	Comparison of Nonlinear Observers for Underactuated Mechanical Systems
Author(s)	Anderle, Milan (UTIA-B)_{RID, ORCID} Čelikovský, Sergej (UTIA-B)_{RID, ORCID}
Source Title	Proceedings of the 9th International Conference Process Control 2010. - Brno : Tribun EU s.r.o, 2010 - ISBN 978-80-7399-951-3
Pages	s. 1-8
Number of pages	8 s.
Publication form	DVD Rom - DVD Rom
Action	Process Control 2010
Event date	07.06.2010-10.06.2010
VEvent location	Hotel Dlouhé Stráně, Kouty nad Desnou
Country	CZ - Czech Republic
Event type	WRD
Language	eng - English
Country	CZ - Czech Republic
Keywords	observer ; Underactuated mechanical systems ; 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 provides the comparison of nonlinear observers for underactuated mechanical systems with aplication to Acrobot walking. Namely, it aims to compare a reduced observer for the Acrobot angular velocities based on the respective angles measurements with a observer for the Acrobot angular velocity and angle based on the other angular velocity and angle measurement and then to combine this observers with the earlier developed full state feedback controllers. For the Acrobot it is not possible to measure the angle between its stance leg and the surface directly because this angle is underactuated. One possibility of measuring this angle is using laser beam sensor and then computation the stance angle from that distance. Main disadvantage of this approach is the high price of the laser beam sensor. The other observer is based on angular velocity of stance leg measurement using the digital gyroscope.
Workplace	Institute of Information Theory and Automation
Contact	Markéta Votavová, votavova@utia.cas.cz, Tel.: 266 052 201.
Year of Publishing	2011

Number of the records: 1