| bibtype |
C -
Conference Paper (international conference)
|
| ARLID |
0431246 |
| utime |
20240111140850.4 |
| mtime |
20140905235959.9 |
| title
(primary) (eng) |
High gain observer for embedded Acrobot |
| specification |
| page_count |
6 s. |
| media_type |
C |
|
| serial |
| ARLID |
cav_un_epca*0433591 |
| ISBN |
978-3-902823-62-5 |
| title
|
Proceedings of the 19th IFAC World Congress, 2014 |
| page_num |
2818-2823 |
| publisher |
| place |
Cape Town |
| name |
IFAC |
| year |
2014 |
|
|
| keyword |
Underactuated mechanical systems |
| keyword |
Embedding |
| keyword |
High gain observer |
| 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 |
246 kB |
|
| cas_special |
| project |
| project_id |
GAP103/12/1794 |
| agency |
GA ČR |
| country |
CZ |
| ARLID |
cav_un_auth*0283207 |
|
| abstract
(eng) |
Underactuated mechanical systems are systems with less actuators than degrees of freedom. Therefore, it is complicated to measure all states, i.e. angular positions or angular velocities, of the mechanical system. Alternative solution consists in an observer design such that unmeasurable states are estimated. For this purpose, a high gain observer for an Acrobot was introduced. By virtue of an Acrobot embedding into a 4-link model, the high gain observer was simply extended and applied to the 4-link model. The main aim of this paper consists in a coupling of a method of the Acrobot embedding into the 4-link model and the high gain observer design for the Acrobot. The coupling results in an observer for the 4-link model with the same structure as the already developed high gain observer for the Acrobot model. |
| action |
| ARLID |
cav_un_auth*0305625 |
| name |
The 19th World Congress of the IFAC /2014/ |
| place |
Cape Town |
| dates |
24.08.2014-29.08.2014 |
| country |
ZA |
|
| reportyear |
2015 |
| RIV |
BC |
| num_of_auth |
2 |
| presentation_type |
PR |
| inst_support |
RVO:67985556 |
| permalink |
http://hdl.handle.net/11104/0235862 |
| cooperation |
| ARLID |
cav_un_auth*0305697 |
| institution |
ČVUT v Praze, FEL, Katedra řídicí techniky |
| name |
Czech Technical University in Prague, Faculty of Electrical Engineering, Department of Control Engineering |
| country |
CZ |
|
| confidential |
S |
| arlyear |
2014 |
| mrcbU56 |
textový dokument 246 kB |
| mrcbU63 |
cav_un_epca*0433591 Proceedings of the 19th IFAC World Congress, 2014 978-3-902823-62-5 2818 2823 Cape Town IFAC 2014 |
|