About: Advanced LMI based analysis and design for Acrobot walking

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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 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. 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. (en)
Title	Advanced LMI based analysis and design for Acrobot walking Advanced LMI based analysis and design for Acrobot walking (en)
skos:prefLabel	Advanced LMI based analysis and design for Acrobot walking Advanced LMI based analysis and design for Acrobot walking (en)
skos:notation	RIV/67985556:_____/10:00345550!RIV11-MSM-67985556
http://linked.open...avai/riv/aktivita	P Z
http://linked.open...avai/riv/aktivity	P(GA102/08/0186), P(LA09026), Z(AV0Z10750506)
http://linked.open...iv/cisloPeriodika	8
http://linked.open...vai/riv/dodaniDat	2011
http://linked.open...aciTvurceVysledku	Zikmund, Jiří Čelikovský, Sergej Anderle, Milan
http://linked.open.../riv/druhVysledku	J - Článek v odborném periodiku
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	245508
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/10:00345550
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	linear matrix inequalities; underactuated mechanical systems; walking robots (en)
http://linked.open.../riv/klicoveSlovo	linear matrix inequalities walking robots underactuated mechanical systems
http://linked.open...odStatuVydavatele	GB - Spojené království Velké Británie a Severního Irska
http://linked.open...ontrolniKodProRIV	[EB7D7F1F706D]
http://linked.open...i/riv/nazevZdroje	International Journal of Control
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	3 (xsd:int)
http://linked.open...cetTvurcuVysledku	4 (xsd:int)
http://linked.open...vavai/riv/projekt	Representation of the Czech Republic in the International Federation on Automatic Control Technical Committee on Nonlinear Systems. Algorithms for Complex Systems Analysis and Control Design
http://linked.open...UplatneniVysledku	2010
http://linked.open...v/svazekPeriodika	83
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan Zikmund, Jiří Henrion, D.
http://linked.open...ain/vavai/riv/wos	000280267400009
http://linked.open...n/vavai/riv/zamer	Pokročilé matematické metody získávání, zpracování a využití informací a znalostí ve složitých a nedeterministických systémech
issn	0020-7179
number of pages	13 (xsd:int)

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