| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0313620 |
| utime |
20240111140708.4 |
| mtime |
20090326235959.9 |
| WOS |
000259261500148 |
| title
(primary) (eng) |
Partial exact linearization design for the Acrobat walking |
| specification |
| page_count |
6 s. |
| media_type |
DVD Rom |
|
| serial |
| ARLID |
cav_un_epca*0313619 |
| ISBN |
978-1-4244-2079-7 |
| title
|
Preprints of the 2008 American Control Conference |
| page_num |
874-879 |
| publisher |
| place |
Seattle |
| name |
IEEE Transactions on Automatic Control Editors |
| year |
2008 |
|
|
| title
(cze) |
Částečná přesná linearizace a její využití k návrhu chůze |
| keyword |
Mechanical Systems |
| keyword |
exact feedback linearization |
| keyword |
underactuated system |
| keyword |
walking robots |
| author
(primary) |
| 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*0223161 |
| name1 |
Zikmund |
| name2 |
Jiří |
| institution |
UTIA-B |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| author
|
| ARLID |
cav_un_auth*0212800 |
| name1 |
Moog |
| name2 |
C. |
| country |
FR |
|
| source |
| source_type |
textový soubor |
| source_size |
209 kB |
|
| cas_special |
| project |
| project_id |
GA102/08/0186 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0239127 |
|
| project |
| project_id |
LA298 |
| agency |
GA MŠk |
| country |
CZ |
| ARLID |
cav_un_auth*0228716 |
|
| 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 a simple system, the acrobot comprises many important difficulties when controlling the most challenging underactuated system - the walking robot. This paper presents the design of the asymptotical tracking of the prescribed trajectory generated by a suitable openloop input of the acrobot. Such a design is based on the partial exact linearization of the third order combined with a certain robust stabilization technique. The proposed control is then demonstrated by the exponential tracking of the walkinglike trajectory of the acrobot. Besides theoretical proofs, our approach is supported by numerical simulations and illustrated by acrobot movement animations. |
| abstract
(cze) |
Článek se zabývá částečnou přesnou linearizací a jejím využitím k návrhu chůze jednoduchého robota. Obsahuje i návrh trajektorie chůze a její zpětnovazebnou stabilizaci, včetně Ljapunovského důkazu robustní stability. |
| action |
| ARLID |
cav_un_auth*0243120 |
| name |
2008 ACC |
| place |
Seattle |
| dates |
11.06.2008-13.06.2008 |
| country |
US |
|
| reportyear |
2009 |
| RIV |
BC |
| permalink |
http://hdl.handle.net/11104/0164378 |
| arlyear |
2008 |
| mrcbU34 |
000259261500148 WOS |
| mrcbU56 |
textový soubor 209 kB |
| mrcbU63 |
cav_un_epca*0313619 Preprints of the 2008 American Control Conference 978-1-4244-2079-7 874 879 Seattle IEEE Transactions on Automatic Control Editors 2008 |
|