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Robotics 2018, 7(4), 77; https://doi.org/10.3390/robotics7040077

Sparse in the Time Stabilization of a Bicycle Robot Model: Strategies for Event- and Self-Triggered Control Approaches

1
Faculty of Electrical Engineering, Institute of Control, Robotics and Computer Science, Poznan University of Technology, 60-965 Poznan, Poland
2
Reacto, os. Jagiellonskie 21, 61-229 Poznan, Poland
*
Author to whom correspondence should be addressed.
Received: 13 October 2018 / Revised: 14 November 2018 / Accepted: 23 November 2018 / Published: 28 November 2018
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Abstract

In this paper, the problems of event- and self-triggered control are studied for a nonlinear bicycle robot model. It has been shown that by applying control techniques based on triggering conditions, it is possible to reduce both state-based performance index, as well as the number of triggers, in comparison to a standard linear-quadratic control which consumes less energy of the control system and decreases the potential mechanical wear of the robot parts. The results presented in this paper open a new research field for further studies, as discussed in the Summary section, and form the basis for further research in energy-efficient control techniques for stabilizing a bicycle robot. View Full-Text
Keywords: event-triggered control; self-triggered control; unmanned bicycle robot; linear-quadratic regulator (LQR) control event-triggered control; self-triggered control; unmanned bicycle robot; linear-quadratic regulator (LQR) control
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Zietkiewicz, J.; Horla, D.; Owczarkowski, A. Sparse in the Time Stabilization of a Bicycle Robot Model: Strategies for Event- and Self-Triggered Control Approaches. Robotics 2018, 7, 77.

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