About: Stability analysis of the Acrobot walking with observed geometry

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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 aims to extend of the previously developed analytical design for the Acrobot walking. The corresponding state feedback controller is completed in this paper by an observer to estimate some states of the Acrobot. Both the controller and the observer are based on the partial exact feedback linearization of order 3. The feedback controller and the observer are extended for the tracking of the cyclic walking-like trajectory in order to demonstrate the cyclic Acrobot walking. The cyclic walking-like trajectory starts continuous phase from certain initial conditions, that at the end of the step makes an impact and after the impact it reaches the same initial conditions as at the beginning of the step. This cyclic motion of the Acrobot enable us to prove the stability of the feedback tracking with the observer numericaly by the method of Poincar e mappings. This paper aims to extend of the previously developed analytical design for the Acrobot walking. The corresponding state feedback controller is completed in this paper by an observer to estimate some states of the Acrobot. Both the controller and the observer are based on the partial exact feedback linearization of order 3. The feedback controller and the observer are extended for the tracking of the cyclic walking-like trajectory in order to demonstrate the cyclic Acrobot walking. The cyclic walking-like trajectory starts continuous phase from certain initial conditions, that at the end of the step makes an impact and after the impact it reaches the same initial conditions as at the beginning of the step. This cyclic motion of the Acrobot enable us to prove the stability of the feedback tracking with the observer numericaly by the method of Poincar e mappings. (en)
Title	Stability analysis of the Acrobot walking with observed geometry Stability analysis of the Acrobot walking with observed geometry (en)
skos:prefLabel	Stability analysis of the Acrobot walking with observed geometry Stability analysis of the Acrobot walking with observed geometry (en)
skos:notation	RIV/67985556:_____/11:00364864!RIV12-AV0-67985556
http://linked.open...avai/riv/aktivita	P S Z
http://linked.open...avai/riv/aktivity	P(GAP103/10/0628), P(LA09026), S, Z(AV0Z10750506)
http://linked.open...vai/riv/dodaniDat	2012
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	231839
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/11:00364864
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Walking robots; Nonlinear control; Stability analysis (en)
http://linked.open.../riv/klicoveSlovo	Nonlinear control Stability analysis Walking robots
http://linked.open...ontrolniKodProRIV	[DDFB2AAA3BD8]
http://linked.open...v/mistoKonaniAkce	Milano
http://linked.open...i/riv/mistoVydani	Milano
http://linked.open...i/riv/nazevZdroje	Proceedings of the 18th IFAC World Congress
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	Representation of the Czech Republic in the International Federation on Automatic Control Technical Committee on Nonlinear Systems. Semidefinite programming for nonlinear dynamical systems
http://linked.open...UplatneniVysledku	2011
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open...vavai/riv/typAkce	EUR - Evropská
http://linked.open.../riv/zahajeniAkce	2011-08-28 (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	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IFAC - International Fedaration of Automatic Control
https://schema.org/isbn	978-3-902661-93-7

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