Analytical design of the Acrobot exponential tracking with applicationt to its walking
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F09%3A00160627" target="_blank" >RIV/68407700:21230/09:00160627 - 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
Analytical design of the Acrobot exponential tracking with applicationt to its walking
Original language description
This paper aims to further improve previously developed design for the Acrobot walking based on the 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 are either zero or equal to one. Previously, the exponentially stable tracking was obtained by solving quadratic stability ofa linear system with polytopic uncertainty applying LMI methods to solve this problem numerically. Here, the new approach is presented allowing to design the tracking feedback and to prove the corresponding stability completely analytically. Moreover, this approach gives even better results than the LMI based one in the sense of the convergence speed.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
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
Data specific for result type
Article name in the collection
Proceedings of The 7th IEEE International Conference on Control & Automation (ICCA'09)
ISBN
978-1-4244-4706-0
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
IEEE New Zeland South Section
Place of publication
Christchurch, New Zeland
Event location
Christchurch
Event date
Dec 9, 2009
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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