文章基本信息

标题：Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel
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作者：Adam Owczarkowski ; Dariusz Horla
期刊名称：International Journal of Applied Mathematics and Computer Science
电子版ISSN：2083-8492
出版年度：2016
卷号：26
期号：2
DOI：10.1515/amcs-2016-0023
出版社：De Gruyter Open
摘要：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
关键词：unmanned bicycle robot; LQR/LQI control; robustness; actuator failure