Analytical design of the Acrobot exponential tracking with applicationt to its walking

Kód výsledku v 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>

Výsledek na webu

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DOI - Digital Object Identifier

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Jazyk výsledku

angličtina

Název v původním jazyce

Analytical design of the Acrobot exponential tracking with applicationt to its walking

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

Analytical design of the Acrobot exponential tracking with applicationt to its walking

Popis výsledku anglicky

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.

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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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

Název statě ve sborníku

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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Počet stran výsledku

6

Strana od-do

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Název nakladatele

IEEE New Zeland South Section

Místo vydání

Christchurch, New Zeland

Místo konání akce

Christchurch

Datum konání akce

9. 12. 2009

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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