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Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F11%3A00364864%21RIV12-AV0-67985556
rdf:type
skos:Concept n21:Vysledek
dcterms:description
This paper aims to extend of the previously developed analytical design for the Acrobot walking. The corresponding state feedback controller is completed in this paper by an observer to estimate some states of the Acrobot. Both the controller and the observer are based on the partial exact feedback linearization of order 3. The feedback controller and the observer are extended for the tracking of the cyclic walking-like trajectory in order to demonstrate the cyclic Acrobot walking. The cyclic walking-like trajectory starts continuous phase from certain initial conditions, that at the end of the step makes an impact and after the impact it reaches the same initial conditions as at the beginning of the step. This cyclic motion of the Acrobot enable us to prove the stability of the feedback tracking with the observer numericaly by the method of Poincar e mappings. This paper aims to extend of the previously developed analytical design for the Acrobot walking. The corresponding state feedback controller is completed in this paper by an observer to estimate some states of the Acrobot. Both the controller and the observer are based on the partial exact feedback linearization of order 3. The feedback controller and the observer are extended for the tracking of the cyclic walking-like trajectory in order to demonstrate the cyclic Acrobot walking. The cyclic walking-like trajectory starts continuous phase from certain initial conditions, that at the end of the step makes an impact and after the impact it reaches the same initial conditions as at the beginning of the step. This cyclic motion of the Acrobot enable us to prove the stability of the feedback tracking with the observer numericaly by the method of Poincar e mappings.
dcterms:title
Stability analysis of the Acrobot walking with observed geometry Stability analysis of the Acrobot walking with observed geometry
skos:prefLabel
Stability analysis of the Acrobot walking with observed geometry Stability analysis of the Acrobot walking with observed geometry
skos:notation
RIV/67985556:_____/11:00364864!RIV12-AV0-67985556
n21:predkladatel
n22:ico%3A67985556
n3:aktivita
n15:Z n15:S n15:P
n3:aktivity
P(GAP103/10/0628), P(LA09026), S, Z(AV0Z10750506)
n3:dodaniDat
n10:2012
n3:domaciTvurceVysledku
n20:1424181 n20:1589237
n3:druhVysledku
n19:D
n3:duvernostUdaju
n11:S
n3:entitaPredkladatele
n9:predkladatel
n3:idSjednocenehoVysledku
231839
n3:idVysledku
RIV/67985556:_____/11:00364864
n3:jazykVysledku
n18:eng
n3:klicovaSlova
Walking robots; Nonlinear control; Stability analysis
n3:klicoveSlovo
n5:Nonlinear%20control n5:Walking%20robots n5:Stability%20analysis
n3:kontrolniKodProRIV
[DDFB2AAA3BD8]
n3:mistoKonaniAkce
Milano
n3:mistoVydani
Milano
n3:nazevZdroje
Proceedings of the 18th IFAC World Congress
n3:obor
n6:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n4:GAP103%2F10%2F0628 n4:LA09026
n3:rokUplatneniVysledku
n10:2011
n3:tvurceVysledku
Čelikovský, Sergej Anderle, Milan
n3:typAkce
n13:EUR
n3:zahajeniAkce
2011-08-28+02:00
n3:zamer
n12:AV0Z10750506
s:numberOfPages
6
n14:hasPublisher
IFAC - International Fedaration of Automatic Control
n16:isbn
978-3-902661-93-7