NDLI: Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking

Content Provider	IEEE Xplore Digital Library
Author	Anderle, M. Celikovsky, S.
Copyright Year	2012
Description	Author affiliation: Czech Technical University in Prague, Faculty of Electrical Engineering, Department of Control Engineering, Technická 2, 166 27, Czech Republic (Anderle, M.; Celikovsky, S.)
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.
Starting Page	1013
Ending Page	1018
File Size	300705
Page Count	6
File Format	PDF
ISBN	9781467325301
e-ISBN	9781467325318
e-ISBN	9781467325295
DOI	10.1109/MED.2012.6265771
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-07-03
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Target tracking Trajectory Mathematical model Mechanical systems Equations Convergence
Content Type	Text
Resource Type	Article

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