High gain observer for embedded Acrobot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F14%3A00223010" target="_blank" >RIV/68407700:21230/14:00223010 - isvavai.cz</a>
Alternative codes found
RIV/67985556:_____/14:00431246
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
High gain observer for embedded Acrobot
Original language description
Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model.
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/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)
Others
Publication year
2014
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 19th World Congress of the International Federation of Automatic Control
ISBN
978-3-902823-62-5
ISSN
1474-6670
e-ISSN
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Number of pages
6
Pages from-to
2818-2823
Publisher name
IFAC
Place of publication
Pretoria
Event location
Cape Town
Event date
Aug 24, 2014
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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