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

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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