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Precise Curve Motion Control of a Segway by Compensating the Centrifugal Force with SEAs

Jin-Uk Bang, Ji-Hyeon Kim, and Jangmyung Lee*
International Journal of Control, Automation, and Systems, vol. 19, no. 6, pp.2018-2025, 2021

Abstract : In this paper, the event-driven fault tolerant control is investigated for networked switched linear systems subject to actuator failures with asynchronous switching. Firstly, by applying the augmented switching signal technique and event-driven communication scheme, the original systems is established as a closed-loop linear switched systems, and the fault tolerant control is considered for networked switched linear systems under the given actuator failures model. In addition, compared with the common Lyapunov function method, a piece-wise Lyapunov function is proposed in this paper to analysis the H∞ performance of the switched linear systems with actuator failures. After that, sufficient conditions are established to ensure the exponential stability of systems, which are obtained under dwell time and average dwell time, respectively. Finally, an example is given to illustrate the effectiveness of the conclusion.

Keyword : Curvature motion, segway, series elastic actuator (SEA), torque control.

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