About: Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking

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About: Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking Goto Sponge NotDistinct Permalink

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	The purpose of this paper is to provide theoretical framework enabling to design tracking feedback for a general Acrobot trajectory which allows rigorous convergence proof. It is based on the partial exact feedback linearization of the Acrobot model followed by further approximate feedback linearization of the tracking error dynamics for arbitrary target trajectory. The approach presented here enables to prove the convergence in a rigorous way at least for small initial tracking errors. The slight novelty here is that neglecting is made with respect to tracking error along any general trajectory to be tracked, not just in some neighborhood of fixed working point. To demonstrate viability of this approach, simulations of a tracking of a walking-like cyclic trajectory are presented. The walking includes several steps including impacts between them. As a matter of fact, the exponentially stable tracking during the swing phase only is capable to stabilize overall walking, including the effect of the impacts. The purpose of this paper is to provide theoretical framework enabling to design tracking feedback for a general Acrobot trajectory which allows rigorous convergence proof. It is based on the partial exact feedback linearization of the Acrobot model followed by further approximate feedback linearization of the tracking error dynamics for arbitrary target trajectory. The approach presented here enables to prove the convergence in a rigorous way at least for small initial tracking errors. The slight novelty here is that neglecting is made with respect to tracking error along any general trajectory to be tracked, not just in some neighborhood of fixed working point. To demonstrate viability of this approach, simulations of a tracking of a walking-like cyclic trajectory are presented. The walking includes several steps including impacts between them. As a matter of fact, the exponentially stable tracking during the swing phase only is capable to stabilize overall walking, including the effect of the impacts. (en)
Title	Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking (en)
skos:prefLabel	Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking (en)
skos:notation	RIV/67985556:_____/12:00378630!RIV13-AV0-67985556
http://linked.open...avai/riv/aktivita	I P
http://linked.open...avai/riv/aktivity	I, P(GAP103/12/1794)
http://linked.open...vai/riv/dodaniDat	2013
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	123481
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/12:00378630
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	tracking feedback; linear system; walking (en)
http://linked.open.../riv/klicoveSlovo	linear system walking tracking feedback
http://linked.open...ontrolniKodProRIV	[A8D989EF7D10]
http://linked.open...v/mistoKonaniAkce	Barcelona
http://linked.open...i/riv/mistoVydani	Barcelona
http://linked.open...i/riv/nazevZdroje	Proceedings of the 2012 20th Mediterranean Conference on Control & Automation (MED)
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	Advanced methods for complex systems analysis and control.
http://linked.open...UplatneniVysledku	2012
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open...vavai/riv/typAkce	EUR - Evropská
http://linked.open.../riv/zahajeniAkce	2012-07-03 (xsd:date)
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4673-2530-1

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