"245508" . "Zikmund, Ji\u0159\u00ED" . . . . . . . "RIV/67985556:_____/10:00345550!RIV11-MSM-67985556" . "000280267400009" . . "13"^^ . . "P(GA102/08/0186), P(LA09026), Z(AV0Z10750506)" . "8" . "Advanced LMI based analysis and design for Acrobot walking"@en . . "[EB7D7F1F706D]" . "Advanced LMI based analysis and design for Acrobot walking" . . "3"^^ . "\u010Celikovsk\u00FD, Sergej" . . "0020-7179" . . "This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation 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 three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (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." . "Advanced LMI based analysis and design for Acrobot walking" . . "GB - Spojen\u00E9 kr\u00E1lovstv\u00ED Velk\u00E9 Brit\u00E1nie a Severn\u00EDho Irska" . "Henrion, D." . "RIV/67985556:_____/10:00345550" . "4"^^ . "Anderle, Milan" . "Advanced LMI based analysis and design for Acrobot walking"@en . . "linear matrix inequalities; underactuated mechanical systems; walking robots"@en . "This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation 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 three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (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."@en . . "83" . "International Journal of Control" . . . . . .