Robust Actuator Fault-Tolerant LQR Control of Unmanned Bicycle Robot. A Feedback Linearization Approach

Joanna Ziętkiewicz; Dariusz Horla; Adam Owczarkowski

doi:10.1007/978-3-319-29357-8_37

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Title

Robust Actuator Fault-Tolerant LQR Control of Unmanned Bicycle Robot. A Feedback Linearization Approach

Authors

Joanna Ziętkiewicz (WE) ^{[ 1 ][ P ]}
Dariusz Horla (WE) ^{[ 1 ][ P ]}
Adam Owczarkowski (WE) ^{[ 2 ][ D ]}

^{[ 1 ]} Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | ^{[ 2 ]} Wydział Elektryczny, Politechnika Poznańska | ^{[ P ]} employee | ^{[ D ]} phd student

Year of publication

2016

Chapter type

paper

Publication language

english

Keywords

EN

feedback linearization
LQ control
robustness
actuator failure

Abstract

EN Robust control must be able to cope with various system behavior subject to mismodeling and able to assure some performance level. In the paper, we propose to use actuator fault-tolerant control law to stabilize a bicycle robot model with inertial wheel to take into account the unmodeled uncertainty introduced by using linearized model in a LQR fashion with feedback linearization. Our proposal is illustrated by signal plots and performance indexes’ values obtained from a set of experiments and is a natural extension of the results presented in the past.

Pages (from - to)

411 - 421

DOI

10.1007/978-3-319-29357-8_37

URL

https://link.springer.com/chapter/10.1007/978-3-319-29357-8_37

Book

Challenges in Automation, Robotics and Measurement Techniques

Presented on

AUTOMATION-2016, 2-4.03.2016, Warszawa, Poland

Publication indexed in

WoS (15)

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