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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F09%3A00159135%21RIV10-GA0-21230___
rdf:type
skos:Concept n16:Vysledek
dcterms:description
This paper aims to compare the performance of various techniques for the stabilization of the error dynamics of the Acrobot's walking like reference trajectory. Both the walking reference planning and the tracking feedback design are based on the Acrobot's model 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 are either zero or equal to one. This paper aims to compare the performance of various techniques for the stabilization of the error dynamics of the Acrobot's walking like reference trajectory. Both the walking reference planning and the tracking feedback design are based on the Acrobot's model 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 are either zero or equal to one.
dcterms:title
Analytical and LMI based design for the Acrobot traking with aplication to robot walking Analytical and LMI based design for the Acrobot traking with aplication to robot walking
skos:prefLabel
Analytical and LMI based design for the Acrobot traking with aplication to robot walking Analytical and LMI based design for the Acrobot traking with aplication to robot walking
skos:notation
RIV/68407700:21230/09:00159135!RIV10-GA0-21230___
n3:aktivita
n17:P
n3:aktivity
P(GA102/08/0186)
n3:dodaniDat
n5:2010
n3:domaciTvurceVysledku
n19:1424181 n19:1589237
n3:druhVysledku
n12:D
n3:duvernostUdaju
n21:S
n3:entitaPredkladatele
n14:predkladatel
n3:idSjednocenehoVysledku
302982
n3:idVysledku
RIV/68407700:21230/09:00159135
n3:jazykVysledku
n13:eng
n3:klicovaSlova
underactuated mechanical systems; exact feedback linearization; walking robots
n3:klicoveSlovo
n6:underactuated%20mechanical%20systems n6:walking%20robots n6:exact%20feedback%20linearization
n3:kontrolniKodProRIV
[B4DBF3ABA17E]
n3:mistoKonaniAkce
Hluboká nad Vltavou
n3:mistoVydani
Praha
n3:nazevZdroje
Proceedings of the 10th International PhD Workshop on Systems and Control
n3:obor
n8:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n11:GA102%2F08%2F0186
n3:rokUplatneniVysledku
n5:2009
n3:tvurceVysledku
Anderle, Milan Čelikovský, Sergej
n3:typAkce
n20:EUR
n3:zahajeniAkce
2009-09-22+02:00
s:numberOfPages
5
n18:hasPublisher
AV ČR, Ústav teorie informace a automatizace
n4:isbn
978-80-903834-3-2
n9:organizacniJednotka
21230