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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/67985556:_____/12:00378630

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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

Název v anglickém jazyce

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

Popis výsledku anglicky

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

Druh

D - Stať ve sborníku

CEP obor

BC - Teorie a systémy řízení

OECD FORD obor

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Projekt

<a href="/cs/project/GAP103%2F12%2F1794" target="_blank" >GAP103/12/1794: Pokročilé metody pro analýzu a řízení složitých systémů.</a><br>

Návaznosti

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

Rok uplatnění

2012

Kód důvěrnosti údajů

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

Název statě ve sborníku

2012 20th Mediterranean Conference on Control & Automation (MED 2012)

ISBN

978-1-4673-2530-1

ISSN

—

e-ISSN

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Počet stran výsledku

6

Strana od-do

1013-1018

Název nakladatele

IEEE

Místo vydání

Barcelona

Místo konání akce

Barcelona

Datum konání akce

3. 7. 2012

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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