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Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F12%3A00378630%21RIV13-AV0-67985556
rdf:type
skos:Concept n15:Vysledek
dcterms:description
The purpose of this paper is to provide theoretical framework enabling to design tracking feedback for a general Acrobot trajectory which allows rigorous convergence proof. It is based on the partial exact feedback linearization of the Acrobot model followed by further approximate feedback linearization of the tracking error dynamics for arbitrary target trajectory. The approach presented here enables to prove the convergence in a rigorous way at least for small initial tracking errors. The slight novelty here is that neglecting is made with respect to tracking error along any general trajectory to be tracked, not just in some neighborhood of fixed working point. To demonstrate viability of this approach, simulations of a tracking of a walking-like cyclic trajectory are presented. The walking includes several steps including impacts between them. As a matter of fact, the exponentially stable tracking during the swing phase only is capable to stabilize overall walking, including the effect of the impacts. The purpose of this paper is to provide theoretical framework enabling to design tracking feedback for a general Acrobot trajectory which allows rigorous convergence proof. It is based on the partial exact feedback linearization of the Acrobot model followed by further approximate feedback linearization of the tracking error dynamics for arbitrary target trajectory. The approach presented here enables to prove the convergence in a rigorous way at least for small initial tracking errors. The slight novelty here is that neglecting is made with respect to tracking error along any general trajectory to be tracked, not just in some neighborhood of fixed working point. To demonstrate viability of this approach, simulations of a tracking of a walking-like cyclic trajectory are presented. The walking includes several steps including impacts between them. As a matter of fact, the exponentially stable tracking during the swing phase only is capable to stabilize overall walking, including the effect of the impacts.
dcterms:title
Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking
skos:prefLabel
Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking
skos:notation
RIV/67985556:_____/12:00378630!RIV13-AV0-67985556
n15:predkladatel
n16:ico%3A67985556
n3:aktivita
n14:P n14:I
n3:aktivity
I, P(GAP103/12/1794)
n3:dodaniDat
n8:2013
n3:domaciTvurceVysledku
n12:1589237 n12:1424181
n3:druhVysledku
n20:D
n3:duvernostUdaju
n7:S
n3:entitaPredkladatele
n17:predkladatel
n3:idSjednocenehoVysledku
123481
n3:idVysledku
RIV/67985556:_____/12:00378630
n3:jazykVysledku
n19:eng
n3:klicovaSlova
tracking feedback; linear system; walking
n3:klicoveSlovo
n6:linear%20system n6:tracking%20feedback n6:walking
n3:kontrolniKodProRIV
[A8D989EF7D10]
n3:mistoKonaniAkce
Barcelona
n3:mistoVydani
Barcelona
n3:nazevZdroje
Proceedings of the 2012 20th Mediterranean Conference on Control & Automation (MED)
n3:obor
n21:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n10:GAP103%2F12%2F1794
n3:rokUplatneniVysledku
n8:2012
n3:tvurceVysledku
Čelikovský, Sergej Anderle, Milan
n3:typAkce
n18:EUR
n3:zahajeniAkce
2012-07-03+02:00
s:numberOfPages
6
n9:hasPublisher
IEEE
n11:isbn
978-1-4673-2530-1