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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F09%3A00160627%21RIV11-GA0-21230___
rdf:type
n10:Vysledek skos:Concept
dcterms:description
This paper aims to further improve previously developed design for the Acrobot walking based on the 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. Previously, the exponentially stable tracking was obtained by solving quadratic stability of a linear system with polytopic uncertainty applying LMI methods to solve this problem numerically. Here, the new approach is presented allowing to design the tracking feedback and to prove the corresponding stability completely analytically. Moreover, this approach gives even better results than the LMI based one in the sense of the convergence speed. This paper aims to further improve previously developed design for the Acrobot walking based on the 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. Previously, the exponentially stable tracking was obtained by solving quadratic stability of a linear system with polytopic uncertainty applying LMI methods to solve this problem numerically. Here, the new approach is presented allowing to design the tracking feedback and to prove the corresponding stability completely analytically. Moreover, this approach gives even better results than the LMI based one in the sense of the convergence speed.
dcterms:title
Analytical design of the Acrobot exponential tracking with applicationt to its walking Analytical design of the Acrobot exponential tracking with applicationt to its walking
skos:prefLabel
Analytical design of the Acrobot exponential tracking with applicationt to its walking Analytical design of the Acrobot exponential tracking with applicationt to its walking
skos:notation
RIV/68407700:21230/09:00160627!RIV11-GA0-21230___
n3:aktivita
n7:P
n3:aktivity
P(GA102/08/0186)
n3:dodaniDat
n12:2011
n3:domaciTvurceVysledku
n17:1424181 n17:1589237
n3:druhVysledku
n20:D
n3:duvernostUdaju
n13:S
n3:entitaPredkladatele
n18:predkladatel
n3:idSjednocenehoVysledku
302991
n3:idVysledku
RIV/68407700:21230/09:00160627
n3:jazykVysledku
n19:eng
n3:klicovaSlova
acrobot; walking robots; partial exact feedback linearization; tracking
n3:klicoveSlovo
n8:partial%20exact%20feedback%20linearization n8:walking%20robots n8:acrobot n8:tracking
n3:kontrolniKodProRIV
[6BC1DC255738]
n3:mistoKonaniAkce
Christchurch
n3:mistoVydani
Christchurch, New Zeland
n3:nazevZdroje
Proceedings of The 7th IEEE International Conference on Control & Automation (ICCA'09)
n3:obor
n4:BC
n3:pocetDomacichTvurcuVysledku
2
n3:pocetTvurcuVysledku
2
n3:projekt
n14:GA102%2F08%2F0186
n3:rokUplatneniVysledku
n12:2009
n3:tvurceVysledku
Čelikovský, Sergej Anderle, Milan
n3:typAkce
n15:WRD
n3:zahajeniAkce
2009-12-09+01:00
s:numberOfPages
6
n16:hasPublisher
IEEE New Zeland South Section
n6:isbn
978-1-4244-4706-0
n21:organizacniJednotka
21230