A Comparison of Control Strategies for 4DoF Model of Unmanned Bicycle Robot Stabilised by Inertial Wheel

Adam Owczarkowski; Dariusz Horla

doi:10.1007/978-3-319-15847-1_21

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Title

A Comparison of Control Strategies for 4DoF Model of Unmanned Bicycle Robot Stabilised by Inertial Wheel

Authors

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

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

Year of publication

2015

Chapter type

chapter in monograph

Publication language

english

Keywords

EN

inertial wheel stabilisation
convex optimisation
LQ control

Abstract

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.

Pages (from - to)

211 - 221

DOI

10.1007/978-3-319-15847-1_21

URL

https://link.springer.com/chapter/10.1007/978-3-319-15847-1_21

Book

Progress in Automation, Robotics and Measuring Techniques : Volume 2 Robotics

Presented on

International Conference on Automation, ICA 2015, 18-20.03.2015, Warsaw, Poland

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