Original title: Analytical and LMI Based Design for the Acrobot Traking with Aplication to Robot WThe 10thalking
Translated title: Porovnání analytických a numerických metod v oblasti řízení Acrobota
Authors: Anderle, M. ; Čelikovský, Sergej
Document type: Papers
Conference/Event: 10th International PhD Workshop on Systems and Control, Hluboka nad Vltavou (CZ), 2009-09-22 / 2009-09-26
Year: 2009
Language: eng
Abstract: [eng] [cze]
This paper aims to compare the performance of various techniques for the stabilization of the error dynamics of the Acrobot’s walking like reference trajectory. Both the walking reference planning and the tracking feedback design are based on the Acrobot’s model 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. Hlavní náplní práce je porovnání různých způsobů stabilizace chybové dynamiky Acrobota podél referenční trajektorie. Sledování navržené trajetorie je založeno na přesné zpětnovazební linearizaci modelu Acrobota.
Keywords: exact feedback linearization; underactuated mechanical systems; walking robots
Project no.: CEZ:AV0Z10750506 (CEP), GA102/08/0186 (CEP)
Funding provider: GA ČR
Host item entry: Proceedings of the 10th International PhD Workshop on Systems and Control, ISBN 978-80-903834-3-2
Note: Související webová stránka: http://as.utia.cas.cz

Institution: Institute of Information Theory and Automation AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0176821

Permalink: http://www.nusl.cz/ntk/nusl-40611


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Research > Institutes ASCR > Institute of Information Theory and Automation
Conference materials > Papers