Introduction of Feedback Linearization to Robust LQR and LQI Control – Analysis of Results from an Unmanned Bicycle Robot with Reaction Wheel

DOI10.1002/ASJC.1773zbMath1422.93078OpenAlexW2799733594MaRDI QIDQ5194918

Joanna Zietkiewicz, Dariusz Horla, Adam Owczarkowski

Publication date: 17 September 2019

Published in: Asian Journal of Control (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/asjc.1773

zbMATH Keywords

robustnessfeedback linearizationactuator failureLQR/LQI controlunmanned bicycle robot

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85) Linearizations (93B18)

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Cites Work

• Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel
• Fault tolerant control for singular systems with actuator saturation and nonlinear perturbation
• Nonlinear control systems: An introduction
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• Feedback Linearization for Nonlinear Systems With Time-Varying Input and Output Delays by Using High-Gain Predictors
• Adaptive Controller Based Unified Power Flow Control for Low Power Oscillation Damping
• Bicycle dynamics and control: adapted bicycles for education and research
• Adaptive guaranteed cost control of systems with uncertain parameters
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