bibtype D - Thesis
ARLID 0317951
utime 20240103191002.1
mtime 20090113235959.9
title (primary) (eng) Analyse et commande des systemes mecaniques sous-actionnes avec application aux robots a pattes
publisher
place Nantes
name Université de Nantes
pub_time 2008
specification
page_count 128 s.
title (eng) Analysis and Control of Underactuated Mechanical Systems with Application to Walking Robots
title (cze) Analýza a řízení podaktuovaných mechanických systémů a jejich aplikace na robotickou chůzi
keyword mechanical systems
keyword nonlinear control
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.
cas_special
project
project_id GA102/08/0186
agency GA ČR
country CZ
ARLID cav_un_auth*0239127
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) Práce 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.
reportyear 2009
RIV BC
habilitation
dates 06.06.2008
degree Ph.D.
institution ÚTIA AV ČR v.v.i
place Pod Vodárenskou věží 4 Praha 8
year 2008
permalink http://hdl.handle.net/11104/0167459
arlyear 2008
mrcbU10 2008
mrcbU10 Nantes Université de Nantes