| bibtype |
J -
Journal Article
|
| ARLID |
0345550 |
| utime |
20240111140741.5 |
| mtime |
20100726235959.9 |
| WOS |
000280267400009 |
| SCOPUS |
77954893892 |
| DOI |
10.1080/00207179.2010.484468 |
| title
(primary) (eng) |
Advanced LMI based analysis and design for Acrobot walking |
| specification |
| page_count |
13 s. |
| media_type |
zveřejněno na webu International Journal of Control |
|
| serial |
| ARLID |
cav_un_epca*0256786 |
| ISSN |
0020-7179 |
| title
|
International Journal of Control |
| volume_id |
83 |
| volume |
8 (2010) |
| page_num |
1641-1652 |
| publisher |
|
|
| keyword |
linear matrix inequalities |
| keyword |
underactuated mechanical systems |
| keyword |
walking robots |
| author
(primary) |
| ARLID |
cav_un_auth*0252057 |
| name1 |
Anderle |
| name2 |
Milan |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| 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*0101074 |
| name1 |
Čelikovský |
| name2 |
Sergej |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| 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*0213197 |
| name1 |
Henrion |
| name2 |
D. |
| country |
CZ |
|
| author
|
| ARLID |
cav_un_auth*0223161 |
| name1 |
Zikmund |
| name2 |
Jiří |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| institution |
UTIA-B |
| 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 |
|
| project |
| project_id |
LA09026 |
| agency |
GA MŠk |
| ARLID |
cav_un_auth*0253177 |
|
| research |
CEZ:AV0Z10750506 |
| abstract
(eng) |
This article aims to further improve previously developed design for Acrobot walking based on partial exact feedback linearisation 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 three time-varying entries only, the remaining entries being either zero or one. In such a way, exponentially stable tracking can be obtained by quadratically stabilising a linear system with polytopic uncertainty. The current improvement is based on applying linear matrix inequalities (LMI) methods to solve this problem numerically. This careful analysis significantly improves previously known approaches. Numerical simulations of Acrobot walking based on the above-mentioned LMI design are demonstrated as well. |
| reportyear |
2011 |
| RIV |
BC |
| mrcbC52 |
4 A 4a 20231122134105.4 |
| permalink |
http://hdl.handle.net/11104/0186797 |
| mrcbT16-e |
AUTOMATIONCONTROLSYSTEMS |
| mrcbT16-f |
1.079 |
| mrcbT16-g |
0.131 |
| mrcbT16-h |
>10.0 |
| mrcbT16-i |
0.00705 |
| mrcbT16-j |
0.503 |
| mrcbT16-k |
3829 |
| mrcbT16-l |
206 |
| mrcbT16-q |
66 |
| mrcbT16-s |
1.154 |
| mrcbT16-y |
25.7 |
| mrcbT16-x |
1.74 |
| mrcbT16-4 |
Q1 |
| mrcbT16-B |
52.985 |
| mrcbT16-C |
45.833 |
| mrcbT16-D |
Q2 |
| mrcbT16-E |
Q1 |
| arlyear |
2010 |
| mrcbTft |
\nSoubory v repozitáři: anderle-0345550.pdf |
| mrcbU14 |
77954893892 SCOPUS |
| mrcbU34 |
000280267400009 WOS |
| mrcbU56 |
textový dokument 795 kB |
| mrcbU63 |
cav_un_epca*0256786 International Journal of Control 0020-7179 1366-5820 Roč. 83 č. 8 2010 1641 1652 Taylor & Francis |
|