Acrobot stable walking in Hybrid systems notation

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F14%3A00427424" target="_blank" >RIV/67985556:_____/14:00427424 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/UKSim.2014.24" target="_blank" >http://dx.doi.org/10.1109/UKSim.2014.24</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/UKSim.2014.24" target="_blank" >10.1109/UKSim.2014.24</a>

Result language
angličtina
Original language name
Acrobot stable walking in Hybrid systems notation
Original language description
The Acrobot walking is interesting and still challenging control problem. By virtue of an actuator location, the Acrobot is partially feedback linearizable up to order 3. This property is widely used both in a feedback tracking of a reference trajectory and in the reference trajectory design. Moreover, the walking of the Acrobot consists of continuoustime and discrete-time dynamics, therefore, the Acrobot belongs in a class of hybrid systems. The aim of this paper is to integrate continuous-time and discrete-time dynamics into a general model of hybrid systems and prove hybrid stability of the Acrobot walking by using both the already developed feedback control and the reference multi-step trajectory.
Czech name
—
Czech description
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Project
<a href="/en/project/GAP103%2F12%2F1794" target="_blank" >GAP103/12/1794: Advanced methods for complex systems analysis and control.</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Publication year
2014
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation
ISBN
978-1-4799-4923-6
ISSN
—
e-ISSN
—
Number of pages
6
Pages from-to
199-204
Publisher name
IEEE
Place of publication
Cambridge
Event location
Cambridge
Event date
Mar 26, 2014
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
000411854100037

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