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

The result's identifiers

  • 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

  • DOI - Digital Object Identifier

Alternative languages

  • 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

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    BC - Theory and management systems

  • OECD FORD branch

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

Data specific for result type

  • Article name in the collection

    Proceedings of the 10th International PhD Workshop on Systems and Control

  • ISBN

    978-80-903834-3-2

  • ISSN

  • e-ISSN

  • Number of pages

    5

  • Pages from-to

  • 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