A Comparison of Control Strategies for 4DoF Model of Unmanned Bicycle Robot Stabilised by Inertial Wheel
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ D ] doktorant | [ P ] pracownik
2015
rozdział w monografii naukowej
angielski
- inertial wheel stabilisation
- convex optimisation
- LQ control
EN Three control strategies have been compared in the paper, comprising LQR, LQI and LMI-optimised LQR-like control in application to stabilisation of 4DoF model of unmanned bicycle robot with inertial wheel. The robot had been modeled by nonlinear state-space equations, and controller design has been based on its linearisation. As a result of numerical simulation based on Euler integration procedure, the characteristics of the proposed strategies have been found with respect to the introduced performance indices.
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