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Statements

Subject Item
n2:RIV%2F68407700%3A21230%2F10%3A00171512%21RIV12-GA0-21230___
rdf:type
skos:Concept n9:Vysledek
dcterms:description
This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well. This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well.
dcterms:title
Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer
skos:prefLabel
Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer
skos:notation
RIV/68407700:21230/10:00171512!RIV12-GA0-21230___
n3:aktivita
n6:P
n3:aktivity
P(GA102/08/0186)
n3:dodaniDat
n8:2012
n3:domaciTvurceVysledku
n11:1589237
n3:druhVysledku
n17:O
n3:duvernostUdaju
n14:S
n3:entitaPredkladatele
n15:predkladatel
n3:idSjednocenehoVysledku
280103
n3:idVysledku
RIV/68407700:21230/10:00171512
n3:jazykVysledku
n12:eng
n3:klicovaSlova
Reduced observer; Underactuated mechanical systems; Walking robots
n3:klicoveSlovo
n7:Reduced%20observer n7:Underactuated%20mechanical%20systems n7:Walking%20robots
n3:kontrolniKodProRIV
[68EE398A3C16]
n3:obor
n10:BC
n3:pocetDomacichTvurcuVysledku
1
n3:pocetTvurcuVysledku
2
n3:projekt
n16:GA102%2F08%2F0186
n3:rokUplatneniVysledku
n8:2010
n3:tvurceVysledku
Čelikovský, Sergej Anderle, Milan
n4:organizacniJednotka
21230