| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0331254 |
| utime |
20240111140727.7 |
| mtime |
20091125235959.9 |
| title
(primary) (eng) |
Analytical and LMI Based Design for the Acrobot Traking with Aplication to Robot WThe 10thalking |
| specification |
| page_count |
5 s. |
| media_type |
DVD Rom |
|
| serial |
| ARLID |
cav_un_epca*0329693 |
| ISBN |
978-80-903834-3-2 |
| title
|
Proceedings of the 10th International PhD Workshop on Systems and Control |
| page_num |
1-5 |
| publisher |
| place |
Praha |
| name |
ÚTIA, AV ČR |
| year |
2009 |
|
| editor |
|
| editor |
|
| editor |
| name1 |
Pavelková |
| name2 |
Lenka |
|
|
| title
(cze) |
Porovnání analytických a numerických metod v oblasti řízení Acrobota |
| keyword |
underactuated mechanical systems |
| keyword |
exact feedback linearization |
| keyword |
walking robots |
| author
(primary) |
| ARLID |
cav_un_auth*0232684 |
| name1 |
Anderle |
| name2 |
M. |
| country |
CZ |
|
| 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. |
|
| source |
|
| cas_special |
| project |
| project_id |
GA102/08/0186 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0239127 |
|
| research |
CEZ:AV0Z10750506 |
| abstract
(eng) |
This paper aims to compare the performance of various techniques for the stabilization of the error dynamics of the Acrobot’s walking like reference trajectory. Both the walking reference planning and the tracking feedback design are based on the Acrobot’s model partial exact feedback linearization of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4 dimensional linear time varying system having 3 time varying entries only, the remaining entries are either zero or equal to one. |
| abstract
(cze) |
Hlavní náplní práce je porovnání různých způsobů stabilizace chybové dynamiky Acrobota podél referenční trajektorie. Sledování navržené trajetorie je založeno na přesné zpětnovazební linearizaci modelu Acrobota. |
| action |
| ARLID |
cav_un_auth*0254414 |
| name |
10th International PhD Workshop on Systems and Control |
| place |
Hluboka nad Vltavou |
| dates |
22.09.2009-26.09.2009 |
| country |
CZ |
|
| reportyear |
2010 |
| RIV |
BC |
| permalink |
http://hdl.handle.net/11104/0176821 |
| arlyear |
2009 |
| mrcbU56 |
pdf dokument 242 kB |
| mrcbU63 |
cav_un_epca*0329693 Proceedings of the 10th International PhD Workshop on Systems and Control 978-80-903834-3-2 1 5 Praha ÚTIA, AV ČR 2009 |
| mrcbU67 |
Hofman Radek 340 |
| mrcbU67 |
Šmídl Václav 340 |
| mrcbU67 |
Pavelková Lenka 340 |
|