Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel
Adam Owczarkowski; Dariusz Horla
International Journal of Applied Mathematics and Computer Science (2016)
- Volume: 26, Issue: 2, page 325-334
- ISSN: 1641-876X
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topAdam Owczarkowski, and Dariusz Horla. "Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel." International Journal of Applied Mathematics and Computer Science 26.2 (2016): 325-334. <http://eudml.org/doc/280114>.
@article{AdamOwczarkowski2016,
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.},
author = {Adam Owczarkowski, Dariusz Horla},
journal = {International Journal of Applied Mathematics and Computer Science},
keywords = {unmanned bicycle robot; LQR/LQI control; robustness; actuator failure},
language = {eng},
number = {2},
pages = {325-334},
title = {Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel},
url = {http://eudml.org/doc/280114},
volume = {26},
year = {2016},
}
TY - JOUR
AU - Adam Owczarkowski
AU - Dariusz Horla
TI - Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel
JO - International Journal of Applied Mathematics and Computer Science
PY - 2016
VL - 26
IS - 2
SP - 325
EP - 334
AB - 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.
LA - eng
KW - unmanned bicycle robot; LQR/LQI control; robustness; actuator failure
UR - http://eudml.org/doc/280114
ER -
References
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