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

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Challenges in Automation, Robotics and Measurement Techniques (ICA 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 440))

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Abstract

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.

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Authors and Affiliations

  1. Institute of Control and Information Engineering, Poznań University of Technology, Poznań, Poland

    Joanna Zietkiewicz, Dariusz Horla & Adam Owczarkowski

Authors
  1. Joanna Zietkiewicz
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  2. Dariusz Horla
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  3. Adam Owczarkowski
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Corresponding author

Correspondence to Joanna Zietkiewicz .

Editor information

Editors and Affiliations

  1. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Roman Szewczyk

  2. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Cezary Zieliński

  3. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Małgorzata Kaliczyńska

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© 2016 Springer International Publishing Switzerland

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Zietkiewicz, J., Horla, D., Owczarkowski, A. (2016). Robust Actuator Fault-Tolerant LQR Control of Unmanned Bicycle Robot. A Feedback Linearization Approach. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Challenges in Automation, Robotics and Measurement Techniques. ICA 2016. Advances in Intelligent Systems and Computing, vol 440. Springer, Cham. https://doi.org/10.1007/978-3-319-29357-8_37

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  • DOI: https://doi.org/10.1007/978-3-319-29357-8_37

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29356-1

  • Online ISBN: 978-3-319-29357-8

  • eBook Packages: EngineeringEngineering (R0)

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