Analysis of Feedback vs. Jacobian Linearization Approaches Applied to Robust LQR Control of 2DoF Bicycle Robot Model

Dariusz Horla; Joanna Ziętkiewicz; Adam Owczarkowski

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Title

Analysis of Feedback vs. Jacobian Linearization Approaches Applied to Robust LQR Control of 2DoF Bicycle Robot Model

Authors

Dariusz Horla (WE) ^{[ 1 ][ P ]}
Joanna Ziętkiewicz (WE) ^{[ 1 ][ P ]}
Adam Owczarkowski ^{[ D ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee | ^{[ D ]} phd student

Year of publication

2016

Chapter type

paper

Publication language

english

Keywords

EN

bicycle robot
linearization
performance

Abstract

EN The paper compares application of Jacobian- and feedback-linearized models to control a nonlinear bicycle robot model. It includes simulation results of performance improvement in the case of weighting matrices and initial condition changes, including the analysis of energy-based indexes. In addition, the results also include comments concerning introduction of robustness to the control system.

Pages (from - to)

285 - 290

URL

https://ieeexplore.ieee.org/document/7827832

Book

Proceedings of the 17th International Conference on Mechatronics – Mechatronika (ME) 2016

Presented on

17th International Conference on Mechatronics - Mechatronika (ME), 7-9.12.2016, Prague, Czech Republic

Publication indexed in

WoS (15)

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