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Paper details
Number 2 - June 2016
Volume 26 - 2016
Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel
Adam Owczarkowski, Dariusz Horla
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.
Keywords
unmanned bicycle robot, LQR/LQI control, robustness, actuator failure