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
n19http://linked.opendata.cz/ontology/domain/vavai/riv/typAkce/
dctermshttp://purl.org/dc/terms/
n4http://purl.org/net/nknouf/ns/bibtex#
n7http://linked.opendata.cz/resource/domain/vavai/riv/tvurce/
n6http://linked.opendata.cz/resource/domain/vavai/projekt/
n9http://linked.opendata.cz/ontology/domain/vavai/
n17http://linked.opendata.cz/resource/domain/vavai/vysledek/RIV%2F67985556%3A_____%2F10%3A00345412%21RIV11-GA0-67985556/
n21https://schema.org/
n13http://linked.opendata.cz/resource/domain/vavai/zamer/
shttp://schema.org/
skoshttp://www.w3.org/2004/02/skos/core#
n3http://linked.opendata.cz/ontology/domain/vavai/riv/
n2http://linked.opendata.cz/resource/domain/vavai/vysledek/
rdfhttp://www.w3.org/1999/02/22-rdf-syntax-ns#
n5http://linked.opendata.cz/ontology/domain/vavai/riv/klicoveSlovo/
n20http://linked.opendata.cz/ontology/domain/vavai/riv/duvernostUdaju/
xsdhhttp://www.w3.org/2001/XMLSchema#
n11http://linked.opendata.cz/ontology/domain/vavai/riv/jazykVysledku/
n8http://linked.opendata.cz/ontology/domain/vavai/riv/aktivita/
n12http://linked.opendata.cz/ontology/domain/vavai/riv/druhVysledku/
n10http://linked.opendata.cz/ontology/domain/vavai/riv/obor/
n16http://reference.data.gov.uk/id/gregorian-year/

Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F10%3A00345412%21RIV11-GA0-67985556
rdf:type
n9:Vysledek skos:Concept
dcterms:description
This paper provides the comparison of nonlinear observers for underactuated mechanical systems with aplication to Acrobot walking. Namely, it aims to compare a reduced observer for the Acrobot angular velocities based on the respective angles measurements with a observer for the Acrobot angular velocity and angle based on the other angular velocity and angle measurement and then to combine this observers with the earlier developed full state feedback controllers. For the Acrobot it is not possible to measure the angle between its stance leg and the surface directly because this angle is underactuated. One possibility of measuring this angle is using laser beam sensor and then computation the stance angle from that distance. Main disadvantage of this approach is the high price of the laser beam sensor. The other observer is based on angular velocity of stance leg measurement using the digital gyroscope. This paper provides the comparison of nonlinear observers for underactuated mechanical systems with aplication to Acrobot walking. Namely, it aims to compare a reduced observer for the Acrobot angular velocities based on the respective angles measurements with a observer for the Acrobot angular velocity and angle based on the other angular velocity and angle measurement and then to combine this observers with the earlier developed full state feedback controllers. For the Acrobot it is not possible to measure the angle between its stance leg and the surface directly because this angle is underactuated. One possibility of measuring this angle is using laser beam sensor and then computation the stance angle from that distance. Main disadvantage of this approach is the high price of the laser beam sensor. The other observer is based on angular velocity of stance leg measurement using the digital gyroscope.
dcterms:title
Comparison of Nonlinear Observers for Underactuated Mechanical Systems Comparison of Nonlinear Observers for Underactuated Mechanical Systems
skos:prefLabel
Comparison of Nonlinear Observers for Underactuated Mechanical Systems Comparison of Nonlinear Observers for Underactuated Mechanical Systems
skos:notation
RIV/67985556:_____/10:00345412!RIV11-GA0-67985556
n3:aktivita
n8:P n8:Z
n3:aktivity
P(GA102/08/0186), Z(AV0Z10750506)
n3:dodaniDat
n16:2011
n3:domaciTvurceVysledku
n7:1589237 n7:1424181
n3:druhVysledku
n12:D
n3:duvernostUdaju
n20:S
n3:entitaPredkladatele
n17:predkladatel
n3:idSjednocenehoVysledku
251493
n3:idVysledku
RIV/67985556:_____/10:00345412
n3:jazykVysledku
n11:eng
n3:klicovaSlova
observer; Underactuated mechanical systems; Walking robots
n3:klicoveSlovo
n5:observer n5:Walking%20robots n5:Underactuated%20mechanical%20systems
n3:kontrolniKodProRIV
[E0FD0FCB3EE4]
n3:mistoKonaniAkce
Hotel Dlouhé Stráně, Kouty nad Desnou
n3:mistoVydani
Brno
n3:nazevZdroje
Proceedings of the 9th International Conference Process Control 2010
n3:obor
n10:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n6:GA102%2F08%2F0186
n3:rokUplatneniVysledku
n16:2010
n3:tvurceVysledku
Anderle, Milan Čelikovský, Sergej
n3:typAkce
n19:WRD
n3:zahajeniAkce
2010-06-07+02:00
n3:zamer
n13:AV0Z10750506
s:numberOfPages
8
n4:hasPublisher
Tribun EU s.r.o
n21:isbn
978-80-7399-951-3