About: Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer

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About: Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer Goto Sponge NotDistinct Permalink

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rdf:type	skos:Concept http://linked.opendata.cz/ontology/domain/vavai/Vysledek
Description	This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well. This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well. (en)
Title	Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer (en)
skos:prefLabel	Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer (en)
skos:notation	RIV/68407700:21230/10:00171512!RIV12-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	2012
http://linked.open...aciTvurceVysledku	Anderle, Milan
http://linked.open.../riv/druhVysledku	O - Ostatní výsledky nezařaditelné do žádného z výše uvedených druhů výsledku
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	280103
http://linked.open...ai/riv/idVysledku	RIV/68407700:21230/10:00171512
http://linked.open...riv/jazykVysledku	eng - angličtina
http://linked.open.../riv/klicovaSlova	Reduced observer; Underactuated mechanical systems; Walking robots (en)
http://linked.open.../riv/klicoveSlovo	Walking robots Reduced observer Underactuated mechanical systems
http://linked.open...ontrolniKodProRIV	[68EE398A3C16]
http://linked.open...in/vavai/riv/obor	BC
http://linked.open...ichTvurcuVysledku	1 (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	2010
http://linked.open...iv/tvurceVysledku	Čelikovský, Sergej Anderle, Milan
http://localhost/t...ganizacniJednotka	21230

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