About: Analytical design of the Acrobot exponential tracking with applicationt to its walking

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This paper aims to further improve previously developed design for the Acrobot walking based on the 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. Previously, the exponentially stable tracking was obtained by solving quadratic stability of a linear system with polytopic uncertainty applying LMI methods to solve this problem numerically. Here, the new approach is presented allowing to design the tracking feedback and to prove the corresponding stability completely analytically. Moreover, this approach gives even better results than the LMI based one in the sense of the convergence speed. This paper aims to further improve previously developed design for the Acrobot walking based on the 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. Previously, the exponentially stable tracking was obtained by solving quadratic stability of a linear system with polytopic uncertainty applying LMI methods to solve this problem numerically. Here, the new approach is presented allowing to design the tracking feedback and to prove the corresponding stability completely analytically. Moreover, this approach gives even better results than the LMI based one in the sense of the convergence speed. (en)
Title	Analytical design of the Acrobot exponential tracking with applicationt to its walking Analytical design of the Acrobot exponential tracking with applicationt to its walking (en)
skos:prefLabel	Analytical design of the Acrobot exponential tracking with applicationt to its walking Analytical design of the Acrobot exponential tracking with applicationt to its walking (en)
skos:notation	RIV/68407700:21230/09:00160627!RIV11-GA0-21230___
http://linked.open...avai/riv/aktivita	P
http://linked.open...avai/riv/aktivity	P(GA102/08/0186)
http://linked.open...vai/riv/dodaniDat	2011
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	České vysoké učení technické v Praze / Fakulta elektrotechnická
http://linked.open...dnocenehoVysledku	302991
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/09:00160627
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	acrobot; walking robots; partial exact feedback linearization; tracking (en)
http://linked.open.../riv/klicoveSlovo	tracking walking robots acrobot partial exact feedback linearization
http://linked.open...ontrolniKodProRIV	[6BC1DC255738]
http://linked.open...v/mistoKonaniAkce	Christchurch
http://linked.open...i/riv/mistoVydani	Christchurch, New Zeland
http://linked.open...i/riv/nazevZdroje	Proceedings of The 7th IEEE International Conference on Control & Automation (ICCA'09)
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	Algorithms for Complex Systems Analysis and Control Design
http://linked.open...UplatneniVysledku	2009
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://linked.open...vavai/riv/typAkce	WRD - Světová
http://linked.open.../riv/zahajeniAkce	2009-12-09 (xsd:date)
number of pages	6 (xsd:int)
http://purl.org/ne...btex#hasPublisher	IEEE New Zeland South Section
https://schema.org/isbn	978-1-4244-4706-0
http://localhost/t...ganizacniJednotka	21230

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