In this paper, the problems of event- and self-triggered control are studied for a nonlinear\nbicycle robot model. It has been shown that by applying control techniques based on triggering\nconditions, it is possible to reduce both state-based performance index, as well as the number of triggers,\nin comparison to a standard linear-quadratic control which consumes less energy of the control system\nand decreases the potential mechanical wear of the robot parts. The results presented in this paper open\na new research field for further studies, as discussed in the Summary section, and form the basis for\nfurther research in energy-efficient control techniques for stabilizing a bicycle robot.
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