| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0050830 |
| utime |
20240103183519.8 |
| mtime |
20070111235959.9 |
| title
(primary) (eng) |
The structure of 2-bodies mechanical systems |
| specification |
|
| serial |
| ARLID |
cav_un_epca*0077921 |
| ISBN |
1-4244-0171-2 |
| title
|
Proceedings of the 45th IEEE Conference on Decision and Control |
| page_num |
6494-6499 |
| publisher |
| place |
San Diego |
| name |
Omnipress |
| year |
2006 |
|
|
| title
(cze) |
Strukturální vlastnosti podaktuovaných mechanických systémů se dvěma stupni |
| keyword |
nonlinear systems |
| keyword |
undeactuated systems |
| keyword |
exact linearization |
| keyword |
stability |
| author
(primary) |
| ARLID |
cav_un_auth*0223161 |
| name1 |
Zikmund |
| name2 |
Jiří |
| institution |
UTIA-B |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0212680 |
| name1 |
Moog |
| name2 |
C. H. |
| country |
FR |
|
| COSATI |
09I |
| cas_special |
| project |
| project_id |
BARRANDE 2006-2007 /2-06-30/ |
| agency |
GA MSM |
| country |
CZ |
| ARLID |
cav_un_auth*0223164 |
|
| research |
CEZ:AV0Z10750506 |
| abstract
(eng) |
Under-actuated 2-bodies mechanical systems with 1 actuator are considered. This family of systems includes the double pendulum, the inverted pendulum on a cart, the acrobot, the pendubot... and other systems with two degrees of freedom but only one actuated joint. The maximal linearization problem is investigated and it is shown that these systems may be classified into two subfamilies depending whether or not they have a actuated shape variable or not. In one case, it is possible to solve the maximal linearization problem with internal stability. |
| abstract
(cze) |
Práce je zaměřena na návrh řízení podaktuovaných mechanických systému s dvěma stavy volnosti. Do těchto systémů patří napr. invertovatelná kyvadla: acrobot a pendubot... a další systémy, mající dva stupně volnosti, z nichž jen jeden je přímo řízen. Je navržena klasifikace těchto systémů do dvou podskupin v závislosti na vlastnostech báze, generujících nelinearní funkce s maximalním relativním stupněm a ukázána souvislost této klasifikace a vnitřní stability linearizovaných systémů. |
| action |
| ARLID |
cav_un_auth*0223163 |
| name |
IEEE Conference on Decision and Control /45th/ |
| place |
The Manchester Grand Hyatt, San Diego |
| dates |
13.12.2006-15.12.2006 |
| country |
US |
|
| reportyear |
2010 |
| RIV |
BC |
| permalink |
http://hdl.handle.net/11104/0140876 |
| arlyear |
2006 |
| mrcbU63 |
cav_un_epca*0077921 Proceedings of the 45th IEEE Conference on Decision and Control 1-4244-0171-2 6494 6499 San Diego Omnipress 2006 |
|