Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an interial wheel
[ 1 ] Instytut Automatyki i Inżynierii Informatycznej, Wydział Elektryczny, Politechnika Poznańska | [ D ] phd student | [ P ] employee
2016
scientific article
english
- unmanned bicycle robot
- LQR/LQI control
- robustness
- actuator failure
EN Essential ingredients for robust control are the ability to cope with different types of system behavior following modelingimperfections and the ability to assure a certain performance level. Inthis paper, we propose to use an actuator fault-tolerantcontrol law to govern, during experiments, the stabilization of a bicycle robot with an inertial wheel in order to take intoaccount unmodeled uncertainty introduced by using a linearizedmodel in an LQR fashion. Our proposal is illustrated bysignal plots and the values of performance indices obtained from a set of experiments.
325 - 334
CC BY-NC-ND (attribution - noncommercial - no derivatives)
open journal
final published version
public
25.0
1.420