LMI based design for the Acrobot walking
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F09%3A00159131" target="_blank" >RIV/68407700:21230/09:00159131 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
LMI based design for the Acrobot walking
Original language description
This paper aims to further improve previously developed design for Acrobot walking based on 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 being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilizing a linear system with polytopic uncertainty. The current improvement is based on applying 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.
Czech name
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Czech description
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Classification
Type
O - Miscellaneous
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA102%2F08%2F0186" target="_blank" >GA102/08/0186: Algorithms for Complex Systems Analysis and Control Design</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)
Others
Publication year
2009
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů