0346763 20240111140742.920100913235959.9 6 s. DVD Rom cav_un_epca*03467621011-1016BolognaUniversity of Bologna2010 reduced 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 www.nolcos.2010.uniba.it 207 kB GA102/08/0186 GA ČR CZ cav_un_auth*0239127 CEZ:AV0Z10750506 This paper provides the algorithm how to exponentially track any trajectory of the Acrobot based on the knowledge of two position variables only. Namely, it aims to design a special reduced observer for the Acrobot angular velocities based on the respective angles measurements and then to combine this observer with the earlier developed full state feedback controllers. For the Acrobot with point feet it is not an easy task to measure the angle between its stance leg and the surface. This paper suggests to measure instead of this angle a certain distance using a laser beam sensor and then to compute the stance angle from that distance. For this purpose, the optical laser distance sensor was selected, purchased and analyzed. Remarkably, the corresponding computations maintain basically the same order of precision for the computed angle as achieved for that measured distance. The stability of both the reduced observer and the overall output feedback tracking is demonstrated as well. cav_un_auth*0263775 The 8th IFAC Symposium on Nonlinear Control Systems University of Bologna 01.09.2010-03.09.2010 IT 2011 BC http://hdl.handle.net/11104/0187696 2010 textový dokument 207 kB cav_un_epca*0346762 Preprints of the 8th IFAC Symposium on Nonlinear Control Systems 1011 1016 Bologna University of Bologna 2010