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

Adam Owczarkowski ; Dariusz Horla

International Journal of Applied Mathematics and Computer Science, Tome 26 (2016), p. 325-334 / Harvested from The Polish Digital Mathematics Library

Résumé

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.

Détail

Publié le : 2016-01-01
EUDML-ID : urn:eudml:doc:280114

Bibliographie

[000] Block, D.J., Åström, K.I. and Spong, M.W. (2007). The reaction wheel pendulum, Synthesis Lectures on Controls and Mechatronics 1(1): 1-105, DOI: 10.2200/S00085ED1V01Y200702CRM001.

[001] Chang, S. and Peng, T. (1972). Adaptive guaranteed cost control of systems with uncertain parameters, IEEE Transactions on Automatic Control 17(4): 474-483, DOI: 10.1109/TAC.1972.1100037. | Zbl 0259.93018

[002] Drapikowski, P., Goślinski, J. and Owczarkowski, A. (2012). Control and model parameters identification of inertia wheel pendulum, Proceedings of the 9th International Conference on Informatics in Control (ICINCO), Rome, Italy, pp. 574-579.

[003] Horla, D. and Królikowski, A. (2011). Discrete-time LQG control with actuator failure, Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics, Noordwijkerhout, The Netherlands, (on CD-ROM). | Zbl 06602555

[004] Horla, D. and Owczarkowski, A. (2015). Robust LQR with actuator failure control strategies for 4DoF model of unmanned bicycle robot stabilised by inertial wheel, 2015 International Conference on Industrial Engineering and Systems Management (IESM), Seville, Spain, pp. 998-1003, DOI: 10.1109/IESM.2015.7380276.

[005] Kwakernaak, H. and Sivan, R. (1972). Linear Optimal Control Systems, Wiley-Interscience, Hoboken, NJ. | Zbl 0276.93001

[006] Owczarkowski, A., Lis, M. and Kozierski, P. (2014). Tracking control of an inertial wheel pendulum by LQR regulation, Proceedings of the 19th International Conference on Methods and Models in Automation and Robotics, Międzyzdroje, Poland, (on CD-ROM).

[007] Petersen, I. and McFarlane, D. (1992). Optimizing the guaranteed cost in the control of uncertain systems, in M. Mansour et al. (Eds.), Robustness of Dynamical Systems with Parameter Uncertainties, Brikhäuser, Boston, MA, pp. 241-250. | Zbl 0780.93043

[008] Smerpitak, K., Ukakimparn, P., Trisuwananwat, T. and Trakoonkootaworn, S. (2012). An unmanned bicycle versus linear quadratic optimal controls, Proceedings of the 12th International Conference on Control, Automation and Systems, JeJu Island, Korea, pp. 1337-1341.

[009] Xie, L. and Soh, Y. (1995). Guaranteed cost control of uncertain discrete-time systems, Control Theory and Advanced Technology 10(4): 1235-1251.

[010] Yang, J., Lee, S., Kim, S., Lee, Y. and Kwon, O. (2011). Linear controller design for circular motion of unmanned bicycle, Proceedings of the 11th International Conference on Control, Automation and Systems, Gyeonggi-do, Korea, pp. 893-897.

[011] Yang, Y., Wang, J. and Soh, Y. (2000a). Reliable LQG control with sensor failures, IEE Proceedings: Control Theory and Applications 147(4): 433-439.

[012] Yang, Y., Yang, G. and Soh, Y. (2000b). Reliable control of discrete-time systems with actuator failures, IEE Proceedings: Control Theory and Applications 147(4): 428-432.

[013] Zuo, Z., Ho, D. and Wang, Y. (2010). Fault tolerant control for singular systems with actuator saturation and nonlinear perturbation, Automatica 46(3): 569-576. | Zbl 1194.93093