Creator:

Owczarkowski, Adam ; Horla, Dariusz

Contributor:

Korbicz, Józef (1951- ) - red. ; Uciński, Dariusz - red.

Title:

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

Group publication title:

AMCS, Volume 26 (2016)

Subject and Keywords:

unmanned bicycle robot ; LQR/LQI control ; robustness ; actuator failure

Abstract:

Essential ingredients for robust control are the ability to cope with different types of system behavior following modeling imperfections and the ability to assure a certain performance level. In this paper, we propose to use an actuator fault-tolerant control law to govern, during experiments, the stabilization of a bicycle robot with an inertial wheel in order to take into account unmodeled uncertainty introduced by using a linearized model in an LQR fashion. Our proposal is illustrated by signal plots and the values of performance indices obtained from a set of experiments.

Publisher:

Zielona Góra: Uniwersytet Zielonogórski

Date:

2016

Resource Type:

artykuł

DOI:

10.1515/amcs-2016-0023

Pages:

325-334

Source:

AMCS, volume 26, number 2 (2016) ; click here to follow the link

Language:

eng

License CC BY 4.0:

click here to follow the link

Rights:

Biblioteka Uniwersytetu Zielonogórskiego