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2016 | 26 | 2 | 325-334
Tytuł artykułu

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

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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.
Opis fizyczny
  • Institute of Control and Information Engineering, Poznań University of Technology, ul. Piotrowo 3a, 60-965 Poznań, Poland
  • Institute of Control and Information Engineering, Poznań University of Technology, ul. Piotrowo 3a, 60-965 Poznań, Poland
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