- Tytuł:
- Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel
- Autorzy:
-
Owczarkowski, A.
Horla, D. - Tematy:
-
unmanned bicycle robot
LQR control
LQI control
robustness
actuator failure
regulator LQR
regulator LQI
sterowanie odporne - Pokaż więcej
- Wydawca:
- Uniwersytet Zielonogórski. Oficyna Wydawnicza
- Powiązania:
- https://bibliotekanauki.pl/articles/330270.pdf Link otwiera się w nowym oknie
- Opis:
- 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.
- Dostawca treści:
- Biblioteka Nauki
Artykuł