Advanced Control of Wheeled Inverted Pendulum Systems by Zhijun Li,Chenguang Yang,Liping Fan

By Zhijun Li,Chenguang Yang,Liping Fan

Advanced regulate of Wheeled Inverted Pendulum Systems is an orderly presentation of modern rules for overcoming the issues inherent within the keep watch over of wheeled inverted pendulum (WIP) structures, within the presence of doubtful dynamics, nonholonomic kinematic constraints in addition to underactuated configurations. The textual content leads the reader in a theoretical exploration of difficulties in kinematics, dynamics modeling, complex regulate layout concepts and trajectory new release for WIPs. an enormous challenge is tips on how to take care of numerous uncertainties linked to the nominal version, WIPs being characterised by means of risky stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which actual versions are challenging to return by.


The ebook is self-contained, offering the reader with every little thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to varied complex movement keep an eye on and strength regulate ways in addition to trajectory iteration technique. even if essentially meant for researchers in robot keep an eye on, Advanced keep an eye on of Wheeled Inverted Pendulum platforms will even be necessary studying for graduate scholars learning nonlinear structures extra generally.


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