Počet záznamů: 1

Advanced LMI based analysis and design for Acrobot walking

  1. 1.
    0345550 - UTIA-B 2011 RIV GB eng J - Článek v odborném periodiku
    Anderle, Milan - Čelikovský, Sergej - Henrion, D. - Zikmund, Jiří
    Advanced LMI based analysis and design for Acrobot walking.
    International Journal of Control. Roč. 83, č. 8 (2010), s. 1641-1652 ISSN 0020-7179
    Grant CEP: GA ČR(CZ) GA102/08/0186; GA MŠk LA09026
    Výzkumný záměr: CEZ:AV0Z10750506
    Klíčová slova: linear matrix inequalities * underactuated mechanical systems * walking robots
    Kód oboru RIV: BC - Teorie a systémy řízení
    Impakt faktor: 0.848, rok: 2010
    http://library.utia.cas.cz/separaty/2010/TR/anderle-0345550.pdf http://library.utia.cas.cz/separaty/2010/TR/anderle-0345550.pdf

    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.
    Trvalý link: http://hdl.handle.net/11104/0186797