文章基本信息

标题：Sparse in the Time Stabilization of a Bicycle Robot Model: Strategies for Event- and Self-Triggered Control Approaches
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作者：Joanna Zietkiewicz ; Dariusz Horla ; Adam Owczarkowski 等
期刊名称：Robotics
电子版ISSN：2218-6581
出版年度：2018
卷号：7
期号：4
页码：77-91
DOI：10.3390/robotics7040077
出版社：MDPI Publishing
摘要：In this paper, the problems of event- and self-triggered control are studied for a nonlinear bicycle robot model. It has been shown that by applying control techniques based on triggering conditions, it is possible to reduce both state-based performance index, as well as the number of triggers, in comparison to a standard linear-quadratic control which consumes less energy of the control system and decreases the potential mechanical wear of the robot parts. The results presented in this paper open a new research field for further studies, as discussed in the Summary section, and form the basis for further research in energy-efficient control techniques for stabilizing a bicycle robot.
关键词：event-triggered control; self-triggered control; unmanned bicycle robot; linear-quadratic regulator (LQR) control event-triggered control ; self-triggered control ; unmanned bicycle robot ; linear-quadratic regulator (LQR) control