Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel
| Autor: | Dariusz Horla, Adam Owczarkowski |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Engineering Inertial frame of reference robustness 02 engineering and technology Computer Science::Robotics 020901 industrial engineering & automation Control theory Robustness (computer science) actuator failure QA1-939 0202 electrical engineering electronic engineering information engineering Computer Science (miscellaneous) Engineering (miscellaneous) unmanned bicycle robot lqr/lqi control business.industry Applied Mathematics Control engineering QA75.5-76.95 Electronic computers. Computer science Robot 020201 artificial intelligence & image processing Robust control Actuator business Mathematics |
| Zdroj: | International Journal of Applied Mathematics and Computer Science, Vol 26, Iss 2, Pp 325-334 (2016) |
| ISSN: | 2083-8492 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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