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Porovnání analytických a numerických metod v oblasti řízení Acrobota
Anderle, M. ; Čelikovský, Sergej
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.
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Stručné porovnání vybraných metod zapomínání parametrů
Dedecius, Kamil
This paper brings a comparison of three selected techniques for estimation of slowly varying parameters of input-output models. One of them is the exponential forgetting method, which is the most popular and simplest method, while another method the alternative forgetting is based on it. The third selected method is the partial forgetting, which presents a completely different approach to the slowly varying parameters. The comparison of these methods is based on a one-step ahead prediction of a predefined time series with models employing these forgetting methods. The prediction errors are then compared.
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O časové parametrizaci uživatelských požadavků v mechatronice
Belda, Květoslav
Time parameterization of user demands (demands on course of path, position etc.) is one of inherent preparative operations before starting real control of any of mechatronic systems. The main objective is to generate the reference inputs i.e. desired, required values with appropriate timing of used control system. In general, the time parameterization itself represents generating a time sequence of the reference values according to some deterministic way defined beforehand, where this time-reference sequence interpolates the initial parameters arising from user demands. This paper addresses optimally-smooth time parameterizations intended for mechatronic systems particularly for machining robotic applications.
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