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Bibliography

Conference Paper (international conference)

Analytical and LMI Based Design for the Acrobot Traking with Aplication to Robot WThe 10thalking

Anderle M., Čelikovský Sergej

: Proceedings of the 10th International PhD Workshop on Systems and Control, p. 1-5 , Eds: Hofman Radek, Šmídl Václav, Pavelková Lenka

: 10th International PhD Workshop on Systems and Control, (Hluboka nad Vltavou, CZ, 22.09.2009-26.09.2009)

: CEZ:AV0Z10750506

: GA102/08/0186, GA ČR

: underactuated mechanical systems, exact feedback linearization, walking robots

: http://as.utia.cas.cz

(eng): 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.

(cze): 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.

: BC

2019-01-07 08:39