0345412 20240111140741.320100726235959.9 8 s. DVD Rom cav_un_epca*0345411978-80-7399-951-3Summaries Volume 9th International Conference Process Control 20101-8BrnoTribun EU s.r.o2010 observer Underactuated mechanical systems Walking robots cav_un_auth*0252057 Anderle Milan Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument 158 kB GA102/08/0186 GA ČR CZ cav_un_auth*0239127 CEZ:AV0Z10750506 This paper provides the comparison of nonlinear observers for underactuated mechanical systems with aplication to Acrobot walking. Namely, it aims to compare a reduced observer for the Acrobot angular velocities based on the respective angles measurements with a observer for the Acrobot angular velocity and angle based on the other angular velocity and angle measurement and then to combine this observers with the earlier developed full state feedback controllers. For the Acrobot it is not possible to measure the angle between its stance leg and the surface directly because this angle is underactuated. One possibility of measuring this angle is using laser beam sensor and then computation the stance angle from that distance. Main disadvantage of this approach is the high price of the laser beam sensor. The other observer is based on angular velocity of stance leg measurement using the digital gyroscope. cav_un_auth*0262634 Process Control 2010 Hotel Dlouhé Stráně, Kouty nad Desnou 07.06.2010-10.06.2010 CZ 2011 BC http://hdl.handle.net/11104/0186689 2010 textový dokument 158 kB cav_un_epca*0345411 Proceedings of the 9th International Conference Process Control 2010 978-80-7399-951-3 1 8 Brno Tribun EU s.r.o 2010 Summaries Volume 9th International Conference Process Control 2010