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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F09%3A00159131%21RIV12-GA0-21230___
rdf:type
skos:Concept n11:Vysledek
dcterms:description
This paper aims to further improve previously developed design for Acrobot walking based on 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, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilizing a linear system with polytopic uncertainty. The current improvement is based on applying 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 paper aims to further improve previously developed design for Acrobot walking based on 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, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilizing a linear system with polytopic uncertainty. The current improvement is based on applying 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
LMI based design for the Acrobot walking LMI based design for the Acrobot walking
skos:prefLabel
LMI based design for the Acrobot walking LMI based design for the Acrobot walking
skos:notation
RIV/68407700:21230/09:00159131!RIV12-GA0-21230___
n4:aktivita
n12:P
n4:aktivity
P(GA102/08/0186)
n4:dodaniDat
n6:2012
n4:domaciTvurceVysledku
n9:1424181 Henrion, Didier n9:1589237
n4:druhVysledku
n13:O
n4:duvernostUdaju
n17:S
n4:entitaPredkladatele
n16:predkladatel
n4:idSjednocenehoVysledku
323961
n4:idVysledku
RIV/68407700:21230/09:00159131
n4:jazykVysledku
n15:eng
n4:klicovaSlova
Linear matrix inequalities; underactuated mechanical system; walking robots
n4:klicoveSlovo
n5:walking%20robots n5:Linear%20matrix%20inequalities n5:underactuated%20mechanical%20system
n4:kontrolniKodProRIV
[4C74ACCD24E8]
n4:obor
n14:BC
n4:pocetDomacichTvurcuVysledku
3
n4:pocetTvurcuVysledku
4
n4:projekt
n10:GA102%2F08%2F0186
n4:rokUplatneniVysledku
n6:2009
n4:tvurceVysledku
Anderle, Milan Čelikovský, Sergej Zikmund, Jiří Henrion, Didier
n8:organizacniJednotka
21230