Performance of Feedback Linearization Based Control of Bicycle Robot in Consideration of Model Inaccuracy

Joanna Ziętkiewicz; Adam Owczarkowski; Dariusz Horla

doi:10.1007/978-3-319-29357-8_36

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Title

Performance of Feedback Linearization Based Control of Bicycle Robot in Consideration of Model Inaccuracy

Authors

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

^{[ 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

feedback linearization
nonlinear control
bicycle robot
reaction wheel
LQR

Abstract

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.

Pages (from - to)

399 - 410

DOI

10.1007/978-3-319-29357-8_36

URL

https://link.springer.com/chapter/10.1007/978-3-319-29357-8_36

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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