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  • This paper aims to compare the performance of various techniques for the stabilization of the error dynamics of the Acrobot's walking like reference trajectory. Both the walking reference planning and the tracking feedback design are based on the Acrobot's model 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 are either zero or equal to one.
  • This paper aims to compare the performance of various techniques for the stabilization of the error dynamics of the Acrobot's walking like reference trajectory. Both the walking reference planning and the tracking feedback design are based on the Acrobot's model 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 are either zero or equal to one. (en)
Title
  • Analytical and LMI based design for the Acrobot traking with aplication to robot walking
  • Analytical and LMI based design for the Acrobot traking with aplication to robot walking (en)
skos:prefLabel
  • Analytical and LMI based design for the Acrobot traking with aplication to robot walking
  • Analytical and LMI based design for the Acrobot traking with aplication to robot walking (en)
skos:notation
  • RIV/68407700:21230/09:00159135!RIV10-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
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  • 302982
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  • RIV/68407700:21230/09:00159135
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  • underactuated mechanical systems; exact feedback linearization; walking robots (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...ontrolniKodProRIV
  • [B4DBF3ABA17E]
http://linked.open...v/mistoKonaniAkce
  • Hluboká nad Vltavou
http://linked.open...i/riv/mistoVydani
  • Praha
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  • Proceedings of the 10th International PhD Workshop on Systems and Control
http://linked.open...in/vavai/riv/obor
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http://linked.open...UplatneniVysledku
http://linked.open...iv/tvurceVysledku
  • Čelikovský, Sergej
  • Anderle, Milan
http://linked.open...vavai/riv/typAkce
http://linked.open.../riv/zahajeniAkce
number of pages
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  • AV ČR, Ústav teorie informace a automatizace
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  • 978-80-903834-3-2
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  • 21230
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