This HTML5 document contains 42 embedded RDF statements represented using HTML+Microdata notation.

The embedded RDF content will be recognized by any processor of HTML5 Microdata.

Namespace Prefixes

PrefixIRI
n16http://linked.opendata.cz/ontology/domain/vavai/riv/typAkce/
dctermshttp://purl.org/dc/terms/
n21http://purl.org/net/nknouf/ns/bibtex#
n20http://linked.opendata.cz/resource/domain/vavai/riv/tvurce/
n5http://linked.opendata.cz/resource/domain/vavai/projekt/
n15http://linked.opendata.cz/ontology/domain/vavai/
n19http://linked.opendata.cz/resource/domain/vavai/zamer/
n14https://schema.org/
shttp://schema.org/
skoshttp://www.w3.org/2004/02/skos/core#
n4http://linked.opendata.cz/ontology/domain/vavai/riv/
n9http://linked.opendata.cz/resource/domain/vavai/vysledek/RIV%2F67985556%3A_____%2F09%3A00334189%21RIV10-AV0-67985556/
n2http://linked.opendata.cz/resource/domain/vavai/vysledek/
rdfhttp://www.w3.org/1999/02/22-rdf-syntax-ns#
n6http://linked.opendata.cz/ontology/domain/vavai/riv/klicoveSlovo/
n18http://linked.opendata.cz/ontology/domain/vavai/riv/duvernostUdaju/
xsdhhttp://www.w3.org/2001/XMLSchema#
n17http://linked.opendata.cz/ontology/domain/vavai/riv/aktivita/
n10http://linked.opendata.cz/ontology/domain/vavai/riv/jazykVysledku/
n12http://linked.opendata.cz/ontology/domain/vavai/riv/druhVysledku/
n7http://linked.opendata.cz/ontology/domain/vavai/riv/obor/
n11http://reference.data.gov.uk/id/gregorian-year/

Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F09%3A00334189%21RIV10-AV0-67985556
rdf:type
n15:Vysledek skos:Concept
dcterms: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.
dcterms: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
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
skos:notation
RIV/67985556:_____/09:00334189!RIV10-AV0-67985556
n4:aktivita
n17:Z n17:P
n4:aktivity
P(GA102/08/0186), Z(AV0Z10750506)
n4:dodaniDat
n11:2010
n4:domaciTvurceVysledku
n20:1589237
n4:druhVysledku
n12:D
n4:duvernostUdaju
n18:S
n4:entitaPredkladatele
n9:predkladatel
n4:idSjednocenehoVysledku
302992
n4:idVysledku
RIV/67985556:_____/09:00334189
n4:jazykVysledku
n10:eng
n4:klicovaSlova
Acrobot; walking robots; partial exact feedback linearization; tracking
n4:klicoveSlovo
n6:Acrobot n6:tracking n6:walking%20robots n6:partial%20exact%20feedback%20linearization
n4:kontrolniKodProRIV
[B68318D7E703]
n4:mistoKonaniAkce
Christchurch
n4:mistoVydani
Christchurch
n4:nazevZdroje
Proceedings of the Seventh IEEE International Conference on Control and Automation
n4:obor
n7:BC
n4:pocetDomacichTvurcuVysledku
1
n4:pocetTvurcuVysledku
2
n4:projekt
n5:GA102%2F08%2F0186
n4:rokUplatneniVysledku
n11:2009
n4:tvurceVysledku
Čelikovský, S. Anderle, Milan
n4:typAkce
n16:WRD
n4:zahajeniAkce
2009-12-09+01:00
n4:zamer
n19:AV0Z10750506
s:numberOfPages
6
n21:hasPublisher
IEEE
n14:isbn
978-1-4244-4707-7