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Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F11%3A00364859%21RIV12-AV0-67985556
rdf:type
n13:Vysledek skos:Concept
dcterms:description
This paper aims to the further improve of the 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. Unlike previous approaches treating time varying entries as uncertainties with various extent of conservatism, the present paper takes into the account an information about these time varying functions including their derivatives up to order 4. Using that, the time varying state and the feedback transformation enable to design a fundamental matrix of the error dynamics in an explicit form and pre-designed stability properties. In particular, product of that fundamental matrix at the end of the single support walking phase by the impact map Jacobian enables directly prove stability of the hybrid cyclic walking like trajectory by computing certain 4x4 matrix and determining numerically whether its eigenvalues lie within the unit circle. This combination of analytical and numerical computations provides the justification of the exponential stability of the walking-like trajectory tracking. Moreover, it is supported by numerical simulations showing practically unlimited number of steps of the Acrobot walking. This paper aims to the further improve of the 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. Unlike previous approaches treating time varying entries as uncertainties with various extent of conservatism, the present paper takes into the account an information about these time varying functions including their derivatives up to order 4. Using that, the time varying state and the feedback transformation enable to design a fundamental matrix of the error dynamics in an explicit form and pre-designed stability properties. In particular, product of that fundamental matrix at the end of the single support walking phase by the impact map Jacobian enables directly prove stability of the hybrid cyclic walking like trajectory by computing certain 4x4 matrix and determining numerically whether its eigenvalues lie within the unit circle. This combination of analytical and numerical computations provides the justification of the exponential stability of the walking-like trajectory tracking. Moreover, it is supported by numerical simulations showing practically unlimited number of steps of the Acrobot walking.
dcterms:title
Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability
skos:prefLabel
Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability
skos:notation
RIV/67985556:_____/11:00364859!RIV12-AV0-67985556
n13:predkladatel
n15:ico%3A67985556
n3:aktivita
n17:Z n17:S n17:P
n3:aktivity
P(GAP103/10/0628), P(LA09026), S, Z(AV0Z10750506)
n3:dodaniDat
n11:2012
n3:domaciTvurceVysledku
n5:1424181 n5:1589237
n3:druhVysledku
n4:D
n3:duvernostUdaju
n14:S
n3:entitaPredkladatele
n12:predkladatel
n3:idSjednocenehoVysledku
199471
n3:idVysledku
RIV/67985556:_____/11:00364859
n3:jazykVysledku
n21:eng
n3:klicovaSlova
stability; linear system; tracking
n3:klicoveSlovo
n6:tracking n6:linear%20system n6:stability
n3:kontrolniKodProRIV
[B3A618E3AA54]
n3:mistoKonaniAkce
Denver Colorado
n3:mistoVydani
Denver
n3:nazevZdroje
Proceedings of the 2011 IEEE International Symposium on Computer-Aided Control System Design (CACSD)
n3:obor
n16:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n8:GAP103%2F10%2F0628 n8:LA09026
n3:rokUplatneniVysledku
n11:2011
n3:tvurceVysledku
Anderle, Milan Čelikovský, Sergej
n3:typAkce
n22:WRD
n3:zahajeniAkce
2011-09-28+02:00
n3:zamer
n9:AV0Z10750506
s:numberOfPages
6
n18:hasPublisher
IEEE
n19:isbn
978-1-4577-1061-2