Ing. Milan Anderle, Ph.D.
research associate

Department:
Department of Control Theory
Research interests:
nonlinear systems, modelling and control of walking robots
Biography
Publication list
Milan Anderle received the Ph.D. degree in the control engineering and robotics at the Czech Technical University in Prague. His thesis was related to nonlinear control laws for underactuated walking robots. He is research associate with the department of Control theory in the Institute of Information Theory and Automation of the Czech Academy of Sciences. He deals with modeling and control of underactuated mechanical systems using nonlinear control in simulations and experiments. His research interests include linear and nonlinear control systems, mathematical modeling, numerical simulations, real-time control, microprocessor systems and electronics.
Books and chapters
- 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 Download DOI: 10.1007/978-3-319-69814-4 [2018] :
- Decentralizovaná výroba a inteligentní přenos energie, Výzkum pro energetiku: vybraná témata, p. 19-29 Download [2017] :
Journal articles
- 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 Download Download 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 Download Download 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 Download [2017] :
- Advanced LMI based analysis and design for Acrobot walking, International Journal of Control 83 8 (2010), p. 1641-1652 Download Download DOI: 10.1080/00207179.2010.484468 [2010] :
Other publications
- The double inverted pendulum with real mass distribution stabilization, Proceedings of the 9th 2023 International Conference on Control, Decision and Information Technologies (CoDit 2023) Download 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. Download [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 Download 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 Download [2022] :
- On the equivalence of the three-link to the almost linear form, Proceedings of the IEEE Workshop on Complexity in Engineering (COMPENG), 2022 Download Download 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 Download 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. Download 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 Download 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 Download [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] :