Robust Actuator Fault-Tolerant LQR Control of Unmanned Bicycle Robot. A Feedback Linearization Approach

被引：4

作者：

Zietkiewicz, Joanna ^{[1
]}

Horla, Dariusz ^{[1
]}

Owczarkowski, Adam ^{[1
]}

机构：

[1] Poznan Univ Tech, Inst Control & Informat Engn, Poznan, Poland

来源：

CHALLENGES IN AUTOMATION, ROBOTICS AND MEASUREMENT TECHNIQUES | 2016年 / 440卷

关键词：

Feedback linearization; LQ control; Robustness; Actuator failure; GUARANTEED COST CONTROL; SYSTEMS;

D O I：

10.1007/978-3-319-29357-8_37

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Robust control must be able to cope with various system behavior subject to mismodeling and able to assure some performance level. In the paper, we propose to use actuator fault-tolerant control law to stabilize a bicycle robot model with inertial wheel to take into account the unmodeled uncertainty introduced by using linearized model in a LQR fashion with feedback linearization. Our proposal is illustrated by signal plots and performance indexes' values obtained from a set of experiments and is a natural extension of the results presented in the past.

引用

页码：411 / 421

页数：11

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