Advanced LMI based analysis and design for Acrobot walking

DOI10.1080/00207179.2010.484468MaRDI QIDQ3162857zbMATH OpenOpenAlexFDO

Authors Milan Anderle, Sergej Čelikovský, Jiří Zikmund, Didier Henrion

Publication date 22 October 2010

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/00207179.2010.484468

zbMATH Keywords

linear matrix inequalitiesunderactuated mechanical systemswalking robots

Mathematics Subject Classification ID

Linearizations (93B18) Design techniques (robust design, computer-aided design, etc.) (93B51) Automated systems (robots, etc.) in control theory (93C85)

Recommendations

• Controller design and global stability analysis of Acrobot
• Design and analysis of active disturbance rejection control system for under actuation walking robot
• Stable Dynamic Walking over Rough Terrain
• Motion planning and tracking control for an acrobot based on a rewinding approach
• scientific article; zbMATH DE number 4152265

Cites work

• Nonlinear control of mechanical systems with an unactuated cyclic variable

Cited in

(1)

• Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design

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