Ing. Milan Anderle, Ph.D.
Vědecký pracovník
Oddělení:
Oddělení teorie řízení
Vědecké zájmy:
nelineární systémy, řízení a modelování kráčejících robotů
Životopis
Seznam publikací
Milan Anderle obdržel titul Ph.D. ve studijním programu řídicí technika a robotika na Českém vysokém učení technickém v Praze. Tématem jeho disertační práce bylo řízení a modelování kráčejících robotů. V současnosti pracuje jako vědecký pracovník v Ústavu teorie informace a automatizace Akademie věd v oddělení Teorie řízení, kde se zabývá modelováním a řízením podaktuovaných mechanických systémů pomocí nelineárních metod řízení na simulační i experimentální úrovni. Mezi jeho výzkumné zájmy patří lineární a nelineární systémy a řízení, modelování mechanických systémů, numerické simulace, řízení v reálném čase, microprocesorové systémy a elektronika.
Knihy a kapitoly
- : On the Hamiltonian Approach to the Collocated Virtual Holonomic Constraints in the Underactuated Mechanical Systems, AETA 2017 - Recent Advances in Electrical Engineering and Related Sciences: Theory and Application, p. 554-568, Eds: Duy Vo Hoang, Dao Tran Trong, Zelinka Ivan, Kim Sang Bong, Phuong Tran Thanh Stáhnout DOI: 10.1007/978-3-319-69814-4 [2018]
- : Decentralizovaná výroba a inteligentní přenos energie, Výzkum pro energetiku: vybraná témata, p. 19-29 Stáhnout [2017]
Články v časopisech
- : Feedback equivalence of the chained mechanical system to the almost linear form and its use for the sustainable multi-step walking design, Journal of the Franklin Institute-Engineering and Applied Mathematics 361 Stáhnout Stáhnout DOI: 10.1016/j.jfranklin.2024.107086 [2024]
- : Controlling the variable length pendulum: Analysis and Lyapunov based design methods, Journal of the Franklin Institute-Engineering and Applied Mathematics 359 3 (2022), p. 1382-1406 Stáhnout Stáhnout DOI: 10.1016/j.jfranklin.2021.11.026 [2022]
- : On the hybrid stability of the collocated virtual holonomic constraints basedwalking design, Cybernetics and Physics 6 2 (2017), p. 47-56 Stáhnout [2017]
- : Advanced LMI based analysis and design for Acrobot walking, International Journal of Control 83 8 (2010), p. 1641-1652 Stáhnout Stáhnout DOI: 10.1080/00207179.2010.484468 [2010]
Ostatní publikace
- : Modeling and Experiments on Stable Stepladder Walking, BOOK OF ABSTRACTS - Multibody Dynamics 2025 - 12th ECCOMAS Thematic Conference on Multibody Dynamics, p. 85-85, Eds: Gerstmayr Johannes, Manzl Peter, Pieber Michael, Zwolfer Andreas Stáhnout [2025]
- : The double inverted pendulum with real mass distribution stabilization, Proceedings of the 9th 2023 International Conference on Control, Decision and Information Technologies (CoDit 2023) Stáhnout DOI: 10.1109/CoDIT58514.2023.10284170 [2023]
- : COMPUTER SIMULATION STUDY OF THE STABILITY OF UNDERACTUATED BIPEDAL ROBOT MODELS (motivated by Griffin and Grizzle, 2017), ENGINEERING MECHANICS 2023 : 29th INTERNATIONAL CONFERENCE - BOOK OF FULL TEXTS, p. 207-210, Eds: Radolf V., Zolotarev I. Stáhnout [2023]
- : ON THE DESIGN AND MODELING OF A TRAINER FOR THE UNDERACTUATED WALKING ROBOT WITHOUT ANKLES, Proceedings of 27/28th INTERNATIONAL CONFERENCE (2022), p. 309-312 Stáhnout DOI: 10.21495/51-2-309 [2022]
- : On a class of biped underactuated robot models with upper body: Sensitivity analysis of the walking performance, Proceedings of the 37th conference on COMPUTATIONAL MECHANICS 2022 (CM 2022), p. 99-102 Stáhnout [2022]
- : On the equivalence of the three-link to the almost linear form, Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022 Stáhnout Stáhnout DOI: 10.1109/COMPENG50184.2022.9905468 [2022]
- : Virtual nonholonomic constraints to damp the varying length pendulum swing, Proceedings of the 60th IEEE Conference on Decision and Control (CDC 2021), p. 3893-3900 DOI: 10.1109/CDC45484.2021.9683262 [2021]
- : Chain of four integrators as a possible essence of the under-actuated planar walking, IFAC-PapersOnLine. Volume 54, Issue 14 - 3rd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2021, p. 60-65 Stáhnout DOI: 10.1016/j.ifacol.2021.10.329 [2021]
- : Lyapunov Based Adaptive Control for Varying Length Pendulum with Unknown Viscous Friction, Proceedings of the 2021 23rd International Conference on Process Control (PC), p. 1-6, Eds: Paulen R., Fikar M. Stáhnout DOI: 10.1109/PC52310.2021.9447539 [2021]
- : Underactuated pendulum damping by its length adjustment and passive output selection, Proceedings of the European Control Conference (ECC 2020), p. 100-105 Stáhnout DOI: 10.23919/ECC51009.2020.9143754 [2020]
- : Exact feedback linearization of the collocated constrained dynamics of the three-link with adjustable torso and its application in the underactuated planar walking, Proceedings of the 15th IEEE International Conference on Control and Automation (IEEE ICCA 2019), p. 1289-1295 DOI: 10.1109/ICCA.2019.8899481 [2019]
- : Damping a pendulum’s swing by string length adjustment - design and comparison of various control methods, Proceedings of the 2019 American Control Conference (ACC), p. 4399-4405 DOI: 10.23919/ACC.2019.8814293 [2019]
- : On the controller implementation in the real underactuated walking robot model, Proceedings of the 12th Asian Control Conference (ASCC 2019), p. 1125-1130 [2019]
- : Stable walking gaits for a three-link planar biped robot with two actuators based on the collocated virtual holonomic constraints and the cyclic unactuated variable, IFAC PapersOnLine. Volume 51, Issue 22. : 12th IFAC Symposium on Robot Control SYROCO 2018, p. 378-385 DOI: 10.1016/j.ifacol.2018.11.571 [2018]
- : Sensor Fusion for simple walking robot using low-level implementation of Extended Kalman Filter, IFAC-PapersOnLine. Volume 51, Issue 13. : 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018, p. 43-48 DOI: 10.1016/j.ifacol.2018.07.252 [2018]
- : On the sensor fusion in the walking robots design, Proceedings of the 11th Asian Control Converence (ASCC) 2017, p. 2534-2539 DOI: 10.1109/ASCC.2017.8287574 [2017]
- : Collocated Virtual Holonomic Constraints in Hamiltonian Formalism and Their Application in the Underactuated Walking, Proceedings of the 11th Asian Control Converence (ASCC) 2017, p. 192-197 DOI: 10.1109/ASCC.2017.8287165 [2017]
- : Hybrid invariance of the collocated virtual holonomic constraints and its application in underactuated walking, IFAC-PapersOnLine. Volume 49, Issue 18, p. 802-807 DOI: 10.1016/j.ifacol.2016.10.264 [2016]
- : On the collocated virtual holonomic constraints in Lagrangian systems, Proceedings of the American Control Conference (ACC), 2016, p. 6030-6035 DOI: 10.1109/ACC.2016.7526616 [2016]
- : Simple model of underactuated walking robot, Proceedings of the 10th Asian Control Conference (ASCC 2015). ISBN 978-1-4799-7862-5 DOI: 10.1109/ASCC.2015.7244755 [2015]
- : Cyclic walking-like trajectory design and tracking in mechanical chain with impacts, Proceedings of the XXIst Congreso ACCA 2014, p. 341-346 [2014]
- : High gain observer for embedded Acrobot, Proceedings of the 19th IFAC World Congress, 2014, p. 2818-2823 [2014]
- : Acrobot stable walking in Hybrid systems notation, Proceedings of the 2014 UKSim-AMSS 16th International Conference on Computer Modelling and Simulation, p. 199-204 DOI: 10.1109/UKSim.2014.24 [2014]
- : Virtual constraints for the underactuated walking design: comparison of two approaches, Proceedings of the 9th Asian Control Conference 2013 (ASCC) [2013]
- : Embedding the generalized Acrobot into the n-link with an unactuated cyclic variable and its application to walking design, Proceedings of the European Control Conference 2013 (ECC), p. 682-689 [2013]
- : Approximate feedback linearization of the Acrobot tracking error dynamics with application to its walking-like trajectory tracking, Proceedings of the 2012 20th Mediterranean Conference on Control & Automation (MED), p. 1007-1012 [2012]
- : Stability analysis of the Acrobot walking with observed geometry, Proceedings of the 18th IFAC World Congress, Eds: Bittanti Array, Cenedese Array, Zampieri Array [2011]
- : Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability, Proceedings of the 2011 IEEE International Symposium on Computer-Aided Control System Design (CACSD), p. 1026-1031 [2011]
- : Sustainable Acrobot Walking Based on the Swing Phase Exponentially Stable Tracking, Proceedings of the ASME 2010 Dynamic Systems and Control Conference DSCC2010, p. 1-8 [2010]
- : Position feedback tracking of the Acrobot walking-like trajectory based on the reduced velocity observer, Preprints of the 8th IFAC Symposium on Nonlinear Control Systems, p. 1011-1016 Stáhnout [2010]
- : Comparison of Nonlinear Observers for Underactuated Mechanical Systems, Proceedings of the 9th International Conference Process Control 2010, p. 1-8 [2010]
- : Analytical design of the Acrobot exponential tracking with applicationt to its walking, Proceedings of the Seventh IEEE International Conference on Control and Automation, p. 163-168 [2009]
- : LMI based design for the Acrobot walking, Preprints of the 9th IFAC Symposium on Robot Control, p. 595-600 [2009]
- : Nonlinear techniques for the Acrobot tracking with application to robot walking, 4emes Journées Nationales de la Robotique Humanoide, p. 1-2 [2009]