Analysis of Feedback vs. Jacobian Linearization Approaches Applied to Robust LQR Control of 2DoF Bicycle Robot Model
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ P ] employee | [ D ] phd student
- bicycle robot
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.
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