Robust LQR and LQI control with actuator failure of a 2DOF unmanned bicycle robot stabilized by an inertial wheel.
Adam OwczarkowskiDariusz HorlaPublished in: Int. J. Appl. Math. Comput. Sci. (2016)
Keyphrases
- path planning
- position control
- control system
- robotic manipulator
- robotic arm
- end effector
- mobile robot
- closed loop
- optimal control
- wheeled mobile robot
- visual servoing
- autonomous vehicles
- degrees of freedom
- wheeled mobile robots
- robotic systems
- control method
- robot manipulators
- trajectory tracking
- control scheme
- control signals
- control strategy
- autonomous robots
- robot control
- motion planning
- motion control
- force control
- wheel slip
- unmanned aerial vehicles
- home environment
- underwater vehicles
- multi robot
- control architecture
- hand eye
- vision system
- human operators
- control strategies
- parallel robot
- robot arm
- dc dc converter
- mobile robot localization
- robot behavior
- position and orientation
- obstacle avoidance
- control law
- real time
- robot teams
- dc motor
- master slave