| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0427424 |
| utime |
20240111140846.5 |
| mtime |
20140411235959.9 |
| SCOPUS |
84926612770 |
| WOS |
000411854100037 |
| DOI |
10.1109/UKSim.2014.24 |
| title
(primary) (eng) |
Acrobot stable walking in Hybrid systems notation |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0427423 |
| ISBN |
978-1-4799-4923-6 |
| title
|
Proceedings of the 2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation |
| page_num |
199-204 |
| publisher |
| place |
Cambridge |
| name |
IEEE |
| year |
2014 |
|
| editor |
| name1 |
Al-Dabass, Orsoni, Cant, Yunus, Ibrahim, Saad |
| name2 |
David, Alessandra, Richard, Jasmy, Zuwaire, Ismail |
|
|
| keyword |
walking robots |
| keyword |
hybrid systems |
| keyword |
modelling |
| author
(primary) |
| ARLID |
cav_un_auth*0252057 |
| name1 |
Anderle |
| name2 |
Milan |
| institution |
UTIA-B |
| full_dept (cz) |
Teorie řízení |
| full_dept (eng) |
Department of Control Theory |
| department (cz) |
TŘ |
| department (eng) |
TR |
| 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 |
| institution |
UTIA-B |
| full_dept (cz) |
Teorie řízení |
| full_dept |
Department of Control Theory |
| department (cz) |
TŘ |
| department |
TR |
| full_dept |
Department of Control Theory |
| fullinstit |
Ústav teorie informace a automatizace AV ČR, v. v. i. |
|
| source |
| source_type |
textový dokument |
| source_size |
211 kB |
|
| cas_special |
| project |
| ARLID |
cav_un_auth*0283207 |
| project_id |
GAP103/12/1794 |
| agency |
GA ČR |
| country |
CZ |
|
| abstract
(eng) |
The Acrobot walking is interesting and still challenging control problem. By virtue of an actuator location, the Acrobot is partially feedback linearizable up to order 3. This property is widely used both in a feedback tracking of a reference trajectory and in the reference trajectory design. Moreover, the walking of the Acrobot consists of continuoustime and discrete-time dynamics, therefore, the Acrobot belongs in a class of hybrid systems. The aim of this paper is to integrate continuous-time and discrete-time dynamics into a general model of hybrid systems and prove hybrid stability of the Acrobot walking by using both the already developed feedback control and the reference multi-step trajectory. |
| action |
| ARLID |
cav_un_auth*0302571 |
| name |
2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation |
| dates |
26.03.2014-28.03.2014 |
| place |
Cambridge |
| country |
GB |
|
| RIV |
BC |
| FORD0 |
20000 |
| FORD1 |
20200 |
| FORD2 |
20204 |
| reportyear |
2015 |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0233076 |
| confidential |
S |
| mrcbC83 |
RIV/67985556:_____/14:00427424!RIV15-AV0-67985556 152459445 Doplnění UT WOS a Scopus |
| mrcbC83 |
RIV/67985556:_____/14:00427424!RIV15-GA0-67985556 152500205 Doplnění UT WOS a Scopus |
| arlyear |
2014 |
| mrcbU14 |
84926612770 SCOPUS |
| mrcbU34 |
000411854100037 WOS |
| mrcbU56 |
textový dokument 211 kB |
| mrcbU63 |
cav_un_epca*0427423 Proceedings of the 2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation 978-1-4799-4923-6 199 204 Cambridge IEEE 2014 |
| mrcbU67 |
Al-Dabass, Orsoni, Cant, Yunus, Ibrahim, Saad David, Alessandra, Richard, Jasmy, Zuwaire, Ismail 340 |
|