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Robust Controller Based on Kharitonov Theorem for Bicycle with CMG

Conference paper
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Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)

Abstract

A new approach to robust control of a nonlinear system with uncertain model parameters is discussed. The problem is devoted to stabilization of unmanned bicycle in a vertical position. A complete research consisting of controller design, simulation, experimental investigations, and comparison with previously realized control algorithms is given.

Keywords

Nonlinear control Robust control Bicycle stabilization 

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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Akademia Górniczo-Hutnicza im. Stanisława Staszica w KrakowieKrakówPoland

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