Analytical and LMI based design for the Acrobot traking with aplication to robot walking

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F09%3A00159135" target="_blank" >RIV/68407700:21230/09:00159135 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
Analytical and LMI based design for the Acrobot traking with aplication to robot walking
Original language description
This paper aims to compare the performance of various techniques for the stabilization of the error dynamics of the Acrobot's walking like reference trajectory. Both the walking reference planning and the tracking feedback design are based on the Acrobot's model 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 varyingentries only, the remaining entries are either zero or equal to one.
Czech name
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Czech description
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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)

Publication year
2009
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
Proceedings of the 10th International PhD Workshop on Systems and Control
ISBN
978-80-903834-3-2
ISSN
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e-ISSN
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Number of pages
5
Pages from-to
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Publisher name
AV ČR, Ústav teorie informace a automatizace
Place of publication
Praha
Event location
Hluboká nad Vltavou
Event date
Sep 22, 2009
Type of event by nationality
EUR - Evropská akce
UT code for WoS article
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