0427424 20240111140846.520140411235959.9 84926612770 000411854100037 10.1109/UKSim.2014.24 6 s. C cav_un_epca*0427423978-1-4799-4923-6199-204CambridgeIEEE2014Al-Dabass, Orsoni, Cant, Yunus, Ibrahim, SaadDavid, Alessandra, Richard, Jasmy, Zuwaire, Ismail walking robots hybrid systems modelling cav_un_auth*0252057 Anderle Milan UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej UTIA-B Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument 211 kB cav_un_auth*0283207 GAP103/12/1794 GA ČR CZ The Acrobot walking is interesting and still challenging control problem. By virtue of an actuator location, the Acrobot is partially feedback linearizable up to order 3. This property is widely used both in a feedback tracking of a reference trajectory and in the reference trajectory design. Moreover, the walking of the Acrobot consists of continuoustime and discrete-time dynamics, therefore, the Acrobot belongs in a class of hybrid systems. The aim of this paper is to integrate continuous-time and discrete-time dynamics into a general model of hybrid systems and prove hybrid stability of the Acrobot walking by using both the already developed feedback control and the reference multi-step trajectory. cav_un_auth*0302571 2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation 26.03.2014-28.03.2014 Cambridge GB BC 20000 20200 20204 2015 2 PR RVO:67985556 http://hdl.handle.net/11104/0233076 S RIV/67985556:_____/14:00427424!RIV15-AV0-67985556 152459445 Doplnění UT WOS a Scopus RIV/67985556:_____/14:00427424!RIV15-GA0-67985556 152500205 Doplnění UT WOS a Scopus 2014 84926612770 SCOPUS 000411854100037 WOS textový dokument 211 kB cav_un_epca*0427423 Proceedings of the 2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation 978-1-4799-4923-6 199 204 Cambridge IEEE 2014 Al-Dabass, Orsoni, Cant, Yunus, Ibrahim, Saad David, Alessandra, Richard, Jasmy, Zuwaire, Ismail 340