About: Comparison of Nonlinear Observers for Underactuated Mechanical Systems

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An Entity of Type : http://linked.opendata.cz/ontology/domain/vavai/Vysledek, within Data Space : linked.opendata.cz associated with source document(s)

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	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. 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. (en)
Title	Comparison of Nonlinear Observers for Underactuated Mechanical Systems Comparison of Nonlinear Observers for Underactuated Mechanical Systems (en)
skos:prefLabel	Comparison of Nonlinear Observers for Underactuated Mechanical Systems Comparison of Nonlinear Observers for Underactuated Mechanical Systems (en)
skos:notation	RIV/67985556:_____/10:00345412!RIV11-GA0-67985556
http://linked.open...avai/riv/aktivita	P Z
http://linked.open...avai/riv/aktivity	P(GA102/08/0186), Z(AV0Z10750506)
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open.../riv/druhVysledku	D - Článek ve sborníku
http://linked.open...iv/duvernostUdaju	S - Úplné a pravdivé údaje nepodléhající ochraně podle zvláštních právních předpisů
http://linked.open...titaPredkladatele	Ústav teorie informace a automatizace AV ČR, v. v. i.
http://linked.open...dnocenehoVysledku	251493
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/10:00345412
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	observer; Underactuated mechanical systems; Walking robots (en)
http://linked.open.../riv/klicoveSlovo	Walking robots observer Underactuated mechanical systems
http://linked.open...ontrolniKodProRIV	[E0FD0FCB3EE4]
http://linked.open...v/mistoKonaniAkce	Hotel Dlouhé Stráně, Kouty nad Desnou
http://linked.open...i/riv/mistoVydani	Brno
http://linked.open...i/riv/nazevZdroje	Proceedings of the 9th International Conference Process Control 2010
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	2 (xsd:int)
http://linked.open...cetTvurcuVysledku	2 (xsd:int)
http://linked.open...vavai/riv/projekt	Algorithms for Complex Systems Analysis and Control Design
http://linked.open...UplatneniVysledku	2010
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2010-06-07 (xsd:date)
http://linked.open...n/vavai/riv/zamer	Pokročilé matematické metody získávání, zpracování a využití informací a znalostí ve složitých a nedeterministických systémech
number of pages	8 (xsd:int)
http://purl.org/ne...btex#hasPublisher	Tribun EU s.r.o
https://schema.org/isbn	978-80-7399-951-3

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