Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F12%3A00196603" target="_blank" >RIV/68407700:21230/12:00196603 - isvavai.cz</a>
Alternative codes found
RIV/67985556:_____/12:00378630
Result on the web
<a href="http://dx.doi.org/10.1109/MED.2012.6265771" target="_blank" >http://dx.doi.org/10.1109/MED.2012.6265771</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/MED.2012.6265771" target="_blank" >10.1109/MED.2012.6265771</a>

Result language
angličtina
Original language name
Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking
Original language description
The purpose of this paper is to provide theoretical framework enabling to design tracking feedback for a general Acrobot trajectory which allows rigorous convergence proof. It is based on the partial exact feedback linearization of the Acrobot model followed by further approximate feedback linearization of the tracking error dynamics for arbitrary target trajectory. The approach presented here enables to prove the convergence in a rigorous way at least for small initial tracking errors. The slight novelty here is that neglecting is made with respect to tracking error along any general trajectory to be tracked, not just in some neighborhood of fixed working point. To demonstrate viability of this approach, simulations of a tracking of a walking-like cyclic trajectory are presented. The walking includes several steps including impacts between them. As a matter of fact, the exponentially stable tracking during the swing phase only is capable to stabilize overall walking, including the eff
Czech name
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Czech description
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Project
<a href="/en/project/GAP103%2F12%2F1794" target="_blank" >GAP103/12/1794: Advanced methods for complex systems analysis and control.</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2012
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection
2012 20th Mediterranean Conference on Control & Automation (MED 2012)
ISBN
978-1-4673-2530-1
ISSN
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e-ISSN
—
Number of pages
6
Pages from-to
1013-1018
Publisher name
IEEE
Place of publication
Barcelona
Event location
Barcelona
Event date
Jul 3, 2012
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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