| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0364864 |
| utime |
20240111140800.9 |
| mtime |
20111007235959.9 |
| title
(primary) (eng) |
Stability analysis of the Acrobot walking with observed geometry |
| specification |
| page_count |
6 s. |
| media_type |
DVD Rom |
|
| serial |
| ARLID |
cav_un_epca*0363299 |
| ISBN |
978-3-902661-93-7 |
| title
|
Proceedings of the 18th IFAC World Congress |
| publisher |
| place |
Milano |
| name |
IFAC - International Fedaration of Automatic Control |
| year |
2011 |
|
| editor |
|
| editor |
|
| editor |
|
|
| keyword |
Walking robots |
| keyword |
Nonlinear control |
| keyword |
Stability analysis |
| 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. |
|
| source |
| source_type |
textový dokument |
| source_size |
1776 kB |
|
| cas_special |
| project |
| project_id |
GAP103/10/0628 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0274748 |
|
| project |
| project_id |
LA09026 |
| agency |
GA MŠk |
| ARLID |
cav_un_auth*0253177 |
|
| research |
CEZ:AV0Z10750506 |
| abstract
(eng) |
This paper aims to extend of the previously developed analytical design for the Acrobot walking. The corresponding state feedback controller is completed in this paper by an observer to estimate some states of the Acrobot. Both the controller and the observer are based on the partial exact feedback linearization of order 3. The feedback controller and the observer are extended for the tracking of the cyclic walking-like trajectory in order to demonstrate the cyclic Acrobot walking. The cyclic walking-like trajectory starts continuous phase from certain initial conditions, that at the end of the step makes an impact and after the impact it reaches the same initial conditions as at the beginning of the step. This cyclic motion of the Acrobot enable us to prove the stability of the feedback tracking with the observer numericaly by the method of Poincar e mappings. |
| action |
| ARLID |
cav_un_auth*0274747 |
| name |
The 18th IFAC World Congress |
| place |
Milano |
| dates |
28.08.2011-02.09.2011 |
| country |
IT |
|
| reportyear |
2012 |
| RIV |
BC |
| num_of_auth |
2 |
| permalink |
http://hdl.handle.net/11104/0200234 |
| arlyear |
2011 |
| mrcbU56 |
textový dokument 1776 kB |
| mrcbU63 |
cav_un_epca*0363299 Proceedings of the 18th IFAC World Congress 978-3-902661-93-7 od 1046-do 1051 Milano IFAC - International Fedaration of Automatic Control 2011 |
| mrcbU67 |
Bittanti 340 |
| mrcbU67 |
Cenedese 340 |
| mrcbU67 |
Zampieri 340 |
|