This HTML5 document contains 45 embedded RDF statements represented using HTML+Microdata notation.

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

Namespace Prefixes

PrefixIRI
dctermshttp://purl.org/dc/terms/
n5http://linked.opendata.cz/resource/domain/vavai/projekt/
n4http://linked.opendata.cz/resource/domain/vavai/riv/tvurce/
n13http://linked.opendata.cz/ontology/domain/vavai/
n16http://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/
n17http://linked.opendata.cz/resource/domain/vavai/vysledek/RIV%2F67985556%3A_____%2F10%3A00345550%21RIV11-MSM-67985556/
n2http://linked.opendata.cz/resource/domain/vavai/vysledek/
rdfhttp://www.w3.org/1999/02/22-rdf-syntax-ns#
n7http://linked.opendata.cz/ontology/domain/vavai/riv/klicoveSlovo/
n6http://linked.opendata.cz/ontology/domain/vavai/riv/duvernostUdaju/
xsdhhttp://www.w3.org/2001/XMLSchema#
n15http://linked.opendata.cz/ontology/domain/vavai/riv/jazykVysledku/
n10http://linked.opendata.cz/ontology/domain/vavai/riv/aktivita/
n18http://linked.opendata.cz/ontology/domain/vavai/riv/druhVysledku/
n14http://linked.opendata.cz/ontology/domain/vavai/riv/obor/
n8http://reference.data.gov.uk/id/gregorian-year/

Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F10%3A00345550%21RIV11-MSM-67985556
rdf:type
n13:Vysledek skos:Concept
dcterms:description
This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation 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 three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (LMI) methods to solve this problem numerically. This careful analysis significantly improves previously known approaches. Numerical simulations of Acrobot walking based on the above-mentioned LMI design are demonstrated as well. This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation 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 three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (LMI) methods to solve this problem numerically. This careful analysis significantly improves previously known approaches. Numerical simulations of Acrobot walking based on the above-mentioned LMI design are demonstrated as well.
dcterms:title
Advanced LMI based analysis and design for Acrobot walking Advanced LMI based analysis and design for Acrobot walking
skos:prefLabel
Advanced LMI based analysis and design for Acrobot walking Advanced LMI based analysis and design for Acrobot walking
skos:notation
RIV/67985556:_____/10:00345550!RIV11-MSM-67985556
n3:aktivita
n10:Z n10:P
n3:aktivity
P(GA102/08/0186), P(LA09026), Z(AV0Z10750506)
n3:cisloPeriodika
8
n3:dodaniDat
n8:2011
n3:domaciTvurceVysledku
n4:7152523 n4:1424181 n4:1589237
n3:druhVysledku
n18:J
n3:duvernostUdaju
n6:S
n3:entitaPredkladatele
n17:predkladatel
n3:idSjednocenehoVysledku
245508
n3:idVysledku
RIV/67985556:_____/10:00345550
n3:jazykVysledku
n15:eng
n3:klicovaSlova
linear matrix inequalities; underactuated mechanical systems; walking robots
n3:klicoveSlovo
n7:underactuated%20mechanical%20systems n7:walking%20robots n7:linear%20matrix%20inequalities
n3:kodStatuVydavatele
GB - Spojené království Velké Británie a Severního Irska
n3:kontrolniKodProRIV
[EB7D7F1F706D]
n3:nazevZdroje
International Journal of Control
n3:obor
n14:BC
n3:pocetDomacichTvurcuVysledku
3
n3:pocetTvurcuVysledku
4
n3:projekt
n5:GA102%2F08%2F0186 n5:LA09026
n3:rokUplatneniVysledku
n8:2010
n3:svazekPeriodika
83
n3:tvurceVysledku
Zikmund, Jiří Čelikovský, Sergej Henrion, D. Anderle, Milan
n3:wos
000280267400009
n3:zamer
n16:AV0Z10750506
s:issn
0020-7179
s:numberOfPages
13