About: Acrobot stable walking in Hybrid systems notation

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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	The Acrobot walking is interesting and still challenging control problem. By virtue of an actuator location, the Acrobot is partially feedback linearizable up to order 3. This property is widely used both in a feedback tracking of a reference trajectory and in the reference trajectory design. Moreover, the walking of the Acrobot consists of continuoustime and discrete-time dynamics, therefore, the Acrobot belongs in a class of hybrid systems. The aim of this paper is to integrate continuous-time and discrete-time dynamics into a general model of hybrid systems and prove hybrid stability of the Acrobot walking by using both the already developed feedback control and the reference multi-step trajectory. The Acrobot walking is interesting and still challenging control problem. By virtue of an actuator location, the Acrobot is partially feedback linearizable up to order 3. This property is widely used both in a feedback tracking of a reference trajectory and in the reference trajectory design. Moreover, the walking of the Acrobot consists of continuoustime and discrete-time dynamics, therefore, the Acrobot belongs in a class of hybrid systems. The aim of this paper is to integrate continuous-time and discrete-time dynamics into a general model of hybrid systems and prove hybrid stability of the Acrobot walking by using both the already developed feedback control and the reference multi-step trajectory. (en)
Title	Acrobot stable walking in Hybrid systems notation Acrobot stable walking in Hybrid systems notation (en)
skos:prefLabel	Acrobot stable walking in Hybrid systems notation Acrobot stable walking in Hybrid systems notation (en)
skos:notation	RIV/67985556:_____/14:00427424!RIV15-GA0-67985556
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	2015
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	1500
http://linked.open...ai/riv/idVysledku	RIV/67985556:_____/14:00427424
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	walking robots; hybrid systems; modelling (en)
http://linked.open.../riv/klicoveSlovo	hybrid systems walking robots modelling
http://linked.open...ontrolniKodProRIV	[E9D2972965C8]
http://linked.open...v/mistoKonaniAkce	Cambridge
http://linked.open...i/riv/mistoVydani	Cambridge
http://linked.open...i/riv/nazevZdroje	Proceedings of the 2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation
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	2014
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open...vavai/riv/typAkce	EUR - Evropská
http://linked.open.../riv/zahajeniAkce	2014-03-26 (xsd:date)
number of pages	6 (xsd:int)
http://bibframe.org/vocab/doi	10.1109/UKSim.2014.24
http://purl.org/ne...btex#hasPublisher	IEEE
https://schema.org/isbn	978-1-4799-4923-6

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