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Statements

Subject Item
n2:RIV%2F67985556%3A_____%2F14%3A00431246%21RIV15-GA0-67985556
rdf:type
skos:Concept n17:Vysledek
dcterms:description
Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model. Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model.
dcterms:title
High gain observer for embedded Acrobot High gain observer for embedded Acrobot
skos:prefLabel
High gain observer for embedded Acrobot High gain observer for embedded Acrobot
skos:notation
RIV/67985556:_____/14:00431246!RIV15-GA0-67985556
n4:aktivita
n19:P n19:I
n4:aktivity
I, P(GAP103/12/1794)
n4:dodaniDat
n5:2015
n4:domaciTvurceVysledku
n6:1424181 n6:1589237
n4:druhVysledku
n16:D
n4:duvernostUdaju
n9:S
n4:entitaPredkladatele
n14:predkladatel
n4:idSjednocenehoVysledku
19058
n4:idVysledku
RIV/67985556:_____/14:00431246
n4:jazykVysledku
n18:eng
n4:klicovaSlova
Underactuated mechanical systems; Embedding; High gain observer
n4:klicoveSlovo
n7:High%20gain%20observer n7:Embedding n7:Underactuated%20mechanical%20systems
n4:kontrolniKodProRIV
[9FE47FF50D64]
n4:mistoKonaniAkce
Cape Town
n4:mistoVydani
Cape Town
n4:nazevZdroje
Proceedings of the 19th IFAC World Congress, 2014
n4:obor
n15:BC
n4:pocetDomacichTvurcuVysledku
2
n4:pocetTvurcuVysledku
2
n4:projekt
n20:GAP103%2F12%2F1794
n4:rokUplatneniVysledku
n5:2014
n4:tvurceVysledku
Anderle, Milan Čelikovský, Sergej
n4:typAkce
n12:WRD
n4:zahajeniAkce
2014-08-24+02:00
s:numberOfPages
6
n10:hasPublisher
IFAC
n11:isbn
978-3-902823-62-5