LMI based design for the Acrobot walking

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F09%3A00159131" target="_blank" >RIV/68407700:21230/09:00159131 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

LMI based design for the Acrobot walking

Popis výsledku v původním jazyce

This paper aims to further improve previously developed design for Acrobot walking based on 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 being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilizing a linear system with polytopic uncertainty. The current improvement is based on applying LMI methods to solve this problem numerically. This careful analysis significantly improves previously known approaches. Numerical simulations of Acrobot walking based on the above mentioned LMI design are demonstrated as well.

Název v anglickém jazyce

LMI based design for the Acrobot walking

Popis výsledku anglicky

This paper aims to further improve previously developed design for Acrobot walking based on 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 being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilizing a linear system with polytopic uncertainty. The current improvement is based on applying LMI methods to solve this problem numerically. This careful analysis significantly improves previously known approaches. Numerical simulations of Acrobot walking based on the above mentioned LMI design are demonstrated as well.

Druh

O - Ostatní výsledky

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

—

Projekt

<a href="/cs/project/GA102%2F08%2F0186" target="_blank" >GA102/08/0186: Algoritmy pro analýzu a návrh řízení složitých systémů</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2009

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů