Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel

DOI10.1515/AMCS-2016-0023zbMath1347.93182OpenAlexW2470762165MaRDI QIDQ326219

Dariusz Horla, Adam Owczarkowski

Publication date: 12 October 2016

Published in: International Journal of Applied Mathematics and Computer Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1515/amcs-2016-0023

zbMATH Keywords

robustnessactuator failureLQR/LQI controlunmanned bicycle robot

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18)

Related Items (4)

Adaptive fuzzy control for uncertain nonlinear systems subject to full state constraints and actuator faults ⋮ A novel nonlinear fault tolerant control for manipulator under actuator fault ⋮ Variational calculus approach to optimal interception task of a ballistic missile in 1D and 2D cases ⋮ Introduction of Feedback Linearization to Robust LQR and LQI Control – Analysis of Results from an Unmanned Bicycle Robot with Reaction Wheel

Cites Work

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• Fault tolerant control for singular systems with actuator saturation and nonlinear perturbation
• Adaptive guaranteed cost control of systems with uncertain parameters

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