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

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.

Keywords

• event-triggered control
• self-triggered control
• unmanned bicycle robot
• linear-quadratic regulator (LQR) control