0345550 20240111140741.520100726235959.9 000280267400009 77954893892 10.1080/00207179.2010.484468 13 s. zveřejněno na webu International Journal of Control cav_un_epca*02567860020-7179838 (2010)1641-1652Taylor & Francis linear matrix inequalities 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. cav_un_auth*0213197 Henrion D. CZ cav_un_auth*0223161 Zikmund Jiří Teorie řízení Department of Control Theory TŘ TR UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument http://library.utia.cas.cz/separaty/2010/TR/anderle-0345550.pdf http://dx.doi.org/10.1080/00207179.2010.484468 795 kB GA102/08/0186 GA ČR CZ cav_un_auth*0239127 LA09026 GA MŠk cav_un_auth*0253177 CEZ:AV0Z10750506 This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation 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 three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (LMI) methods to solve this problem numerically. This careful analysis significantly improves previously known approaches. Numerical simulations of Acrobot walking based on the above-mentioned LMI design are demonstrated as well. 2011 BC 4 A 4a 20231122134105.4 http://hdl.handle.net/11104/0186797 AUTOMATIONCONTROLSYSTEMS 1.079 0.131 >10.0 0.00705 0.503 3829 206 66 1.154 25.7 1.74 Q1 52.985 45.833 Q2 Q1 2010 Soubory v repozitáři: anderle-0345550.pdf 77954893892 SCOPUS 000280267400009 WOS textový dokument 795 kB cav_un_epca*0256786 International Journal of Control 0020-7179 1366-5820 Roč. 83 č. 8 2010 1641 1652 Taylor & Francis