DocumentCode :
3648062
Title :
Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking
Author :
Milan Anderle;Sergej Čelikovský
Author_Institution :
Czech Technical University in Prague, Faculty of Electrical Engineering, Department of Control Engineering, Technická
fYear :
2012
fDate :
7/1/2012 12:00:00 AM
Firstpage :
1013
Lastpage :
1018
Abstract :
The purpose of this paper is to provide theoretical framework enabling to design tracking feedback for a general Acrobot trajectory which allows rigorous convergence proof. It is based on the partial exact feedback linearization of the Acrobot model followed by further approximate feedback linearization of the tracking error dynamics for arbitrary target trajectory. The approach presented here enables to prove the convergence in a rigorous way at least for small initial tracking errors. The slight novelty here is that neglecting is made with respect to tracking error along any general trajectory to be tracked, not just in some neighborhood of fixed working point. To demonstrate viability of this approach, simulations of a tracking of a walking-like cyclic trajectory are presented. The walking includes several steps including impacts between them. As a matter of fact, the exponentially stable tracking during the swing phase only is capable to stabilize overall walking, including the effect of the impacts.
Keywords :
"Trajectory","Legged locomotion","Target tracking","Convergence","Equations","Mathematical model","Mechanical systems"
Publisher :
ieee
Conference_Titel :
Control & Automation (MED), 2012 20th Mediterranean Conference on
Print_ISBN :
978-1-4673-2530-1
Type :
conf
DOI :
10.1109/MED.2012.6265771
Filename :
6265771
Link To Document :
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