Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an interial wheel

Adam Owczarkowski; Dariusz Horla

doi:10.1515/amcs-2016-0023

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Title

Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an interial 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

2016

Published in

International Journal of Applied Mathematics and Computer Science

Journal year: 2016 | Journal volume: vol. 26 | Journal number: no. 2

Article type

scientific article

Publication language

english

Keywords

EN

unmanned bicycle robot
LQR/LQI control
robustness
actuator failure

Abstract

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.

Pages (from - to)

325 - 334

DOI

10.1515/amcs-2016-0023

URL

https://sciendo.com/pl/article/10.1515/amcs-2016-0023

License type

CC BY-NC-ND (attribution - noncommercial - no derivatives)

Open Access Mode

open journal

Open Access Text Version

final published version