Robust LQR with actuator failure control strategies for 4DoF model of unmanned bicycle robot stabilised by inertial wheel

Abstract

The paper presents analysis of two control strategies, i.e. LQR and LQI, in application to control of continuous-time nonlinear system on the basis of its linearised discrete-time model, taking robustness approach into account. The applied control laws assure robustness subject to actuator failure what has been used to obtain better control quality (in the… (More)

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