Performance of Feedback Linearization Based Control of Bicycle Robot in Consideration of Model Inaccuracy
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] pracownik | [ D ] doktorant
2016
referat
angielski
- feedback linearization
- nonlinear control
- bicycle robot
- reaction wheel
- LQR
EN This paper considers the influence of model inaccuracy on control performance when feedback linearization is used. For this purpose we use plant of bicycle robot. The problem is analysed in two ways: by simulations with artificially changed parameters and by comparison of simulated data with the results obtained from the real object. The collected data show that, even if the model differs from the real object, control method provides good results. This indicates that feedback linearization, method strongly relying on model, can be successfully used for some real plants.
399 - 410
WoS (15)