<abstract xmlns="http://www.w3.org/1999/xhtml"><p> 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.</p></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.

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

adam.j.owczarkowski@doctorate.put.poznan.pl

Institute of Control and Information Engineering Poznán University of Technology, ul. Piotrowo 3a, 60-965 Poznán, Poland

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Essential ingredients for robust control are the ability to cope with different types of system behavior following modeling imperfections and the ability to...

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

Publié en ligne: 02 juil. 2016

Pages: 325 - 334

Reçu: 30 mars 2015

Accepté: 09 oct. 2015

DOI: https://doi.org/10.1515/amcs-2016-0023

Mots clés
unmanned bicycle robot, LQR/LQI control, robustness, actuator failure

© by Adam Owczarkowski

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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

Publié en ligne: 02 juil. 2016

Pages: 325 - 334

Reçu: 30 mars 2015

Accepté: 09 oct. 2015

DOI: https://doi.org/10.1515/amcs-2016-0023

Mots clésunmanned bicycle robot, LQR/LQI control, robustness, actuator failure

© by Adam Owczarkowski

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Mots clés
unmanned bicycle robot, LQR/LQI control, robustness, actuator failure