About: LMI based design for the Acrobot walking     Goto   Sponge   NotDistinct   Permalink

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

AttributesValues
rdf:type
Description
  • This paper aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearization 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 3 time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilizing a linear system with polytopic uncertainty. The current improvement is based on applying 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 paper aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearization 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 3 time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilizing a linear system with polytopic uncertainty. The current improvement is based on applying 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
  • LMI based design for the Acrobot walking
  • LMI based design for the Acrobot walking (en)
skos:prefLabel
  • LMI based design for the Acrobot walking
  • LMI based design for the Acrobot walking (en)
skos:notation
  • RIV/68407700:21230/09:00159131!RIV12-GA0-21230___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(GA102/08/0186)
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 323961
http://linked.open...ai/riv/idVysledku
  • RIV/68407700:21230/09:00159131
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • Linear matrix inequalities; underactuated mechanical system; walking robots (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [4C74ACCD24E8]
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Henrion, Didier
  • Čelikovský, Sergej
  • Anderle, Milan
  • Zikmund, Jiří
http://localhost/t...ganizacniJednotka
  • 21230
Faceted Search & Find service v1.16.118 as of Jun 21 2024


Alternative Linked Data Documents: ODE     Content Formats:   [cxml] [csv]     RDF   [text] [turtle] [ld+json] [rdf+json] [rdf+xml]     ODATA   [atom+xml] [odata+json]     Microdata   [microdata+json] [html]    About   
This material is Open Knowledge   W3C Semantic Web Technology [RDF Data] Valid XHTML + RDFa
OpenLink Virtuoso version 07.20.3240 as of Jun 21 2024, on Linux (x86_64-pc-linux-gnu), Single-Server Edition (126 GB total memory, 24 GB memory in use)
Data on this page belongs to its respective rights holders.
Virtuoso Faceted Browser Copyright © 2009-2024 OpenLink Software