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Performance of Feedback Linearization Based Control of Bicycle Robot in Consideration of Model Inaccuracy

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Challenges in Automation, Robotics and Measurement Techniques (ICA 2016)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 440))

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Abstract

This paper considers the influence of model inaccuracy on control performance when feedback linearization is used. For this purpose we use plant of bicycle robot. The problem is analysed in two ways: by simulations with artificially changed parameters and by comparison of simulated data with the results obtained from the real object. The collected data show that, even if the model differs from the real object, control method provides good results. This indicates that feedback linearization, method strongly relying on model, can be successfully used for some real plants.

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Authors and Affiliations

  1. Institute of Control and Information Engineering, Poznan University of Technology, Poznan, Poland

    Joanna Zietkiewicz, Adam Owczarkowski & Dariusz Horla

Authors
  1. Joanna Zietkiewicz
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  2. Adam Owczarkowski
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  3. Dariusz Horla
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Corresponding author

Correspondence to Joanna Zietkiewicz .

Editor information

Editors and Affiliations

  1. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Roman Szewczyk

  2. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Cezary Zieliński

  3. Automation and Measurements PIAP, Industrial Research Institute for, Warsaw, Poland

    Małgorzata Kaliczyńska

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Zietkiewicz, J., Owczarkowski, A., Horla, D. (2016). Performance of Feedback Linearization Based Control of Bicycle Robot in Consideration of Model Inaccuracy. In: Szewczyk, R., Zieliński, C., Kaliczyńska, M. (eds) Challenges in Automation, Robotics and Measurement Techniques. ICA 2016. Advances in Intelligent Systems and Computing, vol 440. Springer, Cham. https://doi.org/10.1007/978-3-319-29357-8_36

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  • DOI: https://doi.org/10.1007/978-3-319-29357-8_36

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29356-1

  • Online ISBN: 978-3-319-29357-8

  • eBook Packages: EngineeringEngineering (R0)

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