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Advanced LMI based analysis and design for Acrobot walking
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SYSNO ASEP 0345550 Document Type J - Journal Article R&D Document Type Journal Article Subsidiary J Článek ve WOS Title Advanced LMI based analysis and design for Acrobot walking Author(s) Anderle, Milan (UTIA-B) RID, ORCID
Čelikovský, Sergej (UTIA-B) RID, ORCID
Henrion, D. (CZ)
Zikmund, Jiří (UTIA-B) RIDSource Title International Journal of Control. - : Taylor & Francis - ISSN 0020-7179
Roč. 83, č. 8 (2010), s. 1641-1652Number of pages 13 s. Publication form zveřejněno na webu International Journal of Control - zveřejněno na webu International Journal of Control Language eng - English Country GB - United Kingdom Keywords linear matrix inequalities ; 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) UT WOS 000280267400009 EID SCOPUS 77954893892 DOI 10.1080/00207179.2010.484468 Annotation This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation 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 three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (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 2011
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