Stability analysis of the Acrobot walking with observed geometry
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F11%3A00182251" target="_blank" >RIV/68407700:21230/11:00182251 - isvavai.cz</a>
Alternative codes found
RIV/67985556:_____/11:00364864
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Stability analysis of the Acrobot walking with observed geometry
Original language description
This paper aims to extend of the previously developed analytical design for the Acrobot walking. The corresponding state feedback controller is completed in this paper by an observer to estimate some states of the Acrobot. Both the controller and the observer are based on the partial exact feedback linearization of order 3. The feedback controller and the observer are extended for the tracking of the cyclic walking-like trajectory in order to demonstrate the cyclic Acrobot walking. The cyclic walking-like trajectory starts continuous phase from certain initial conditions, that at the end of the step makes an impact and after the impact it reaches the same initial conditions as at the beginning of the step. This cyclic motion of the Acrobot enable us toprove the stability of the feedback tracking with the observer numericaly by the method of Poincare mappings.
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
Result was created during the realization of more than one project. More information in the Projects tab.
Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2011
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 18th IFAC World Congress, 2011
ISBN
978-3-902661-93-7
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
1046-1051
Publisher name
IFAC
Place of publication
Bologna
Event location
Milano
Event date
Aug 28, 2011
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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