| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0088044 |
| utime |
20240111140652.1 |
| mtime |
20071029235959.9 |
| title
(primary) (eng) |
Nonlinear Control Design for the Acrobot |
| specification |
| page_count |
6 s. |
| media_type |
CD Rom |
|
| serial |
| ARLID |
cav_un_epca*0088043 |
| title
|
Preprints of the 3rd IFAC Symposium on System, Structure and Control |
| publisher |
| place |
Foz do Iguassu |
| name |
IFAC |
| year |
2007 |
|
|
| title
(cze) |
Návrh nelineárního řízení pro acrobot |
| keyword |
Mechanical Systems |
| keyword |
exact feedback linearization |
| keyword |
underactuated system |
| 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*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| institution |
UTIA-B |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0231624 |
| name1 |
Moog |
| name2 |
C.H. |
| country |
FR |
|
| source |
| source_type |
textový soubor |
| source_size |
157 kB |
|
| cas_special |
| project |
| project_id |
GA102/05/0011 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0213187 |
|
| project |
| project_id |
2-06-30 |
| agency |
GA MSM |
| country |
CZ |
| ARLID |
cav_un_auth*0231626 |
|
| research |
CEZ:AV0Z10750506 |
| abstract
(eng) |
A new control concept for a class of simple underactuated mechanical system, the so-called Acrobot, is presented here. Despite being seemingly simple system, the acrobot comprises many important difficulties when controlling the most challenging underactuated system - the walking robot. This paper presents the exponential stabilization of the acrobot from the wide range of initial positions, much wider than typical local results in the current literature. Moreover, contrary to standard control methods available for stabilization of such systems, the control presented herein provides a large domain of attraction and avoids any switching scheme. This result is achieved thanks to special transformation of the system combined with certain robust stabilization technique. The proposed control is then compared with other approaches based on different transformations and presented in earlier publications. Besides theoretical proofs, our approach is supported by numerical simulations. |
| abstract
(cze) |
Práce se zabývá stabilizací acrobotu, což je jednoduchý mechanický podaktuovaný systém. Kombinuje metodu speciálních nelineaárních transformací rovnic modelu a následné robustní techniky. Simulace ukazují velmi přijatelné chování stabilizujícího regulátoru. |
| action |
| ARLID |
cav_un_auth*0231625 |
| name |
SSSC07 |
| place |
Foz do Iguassu |
| dates |
17.10.2007-19.10.2007 |
| country |
BR |
|
| reportyear |
2008 |
| RIV |
BC |
| permalink |
http://hdl.handle.net/11104/0149719 |
| arlyear |
2007 |
| mrcbU56 |
textový soubor 157 kB |
| mrcbU63 |
cav_un_epca*0088043 Preprints of the 3rd IFAC Symposium on System, Structure and Control 1/6-6/6 Foz do Iguassu IFAC 2007 |
|