ENGLISH

Advanced Control of Wheeled Inverted Pendulum Systems

By Zhijun Li , Chenguang Yang , Liping Fan (auth.)

Book information

Publisher
Springer-Verlag London
Year
2013
ISBN
978-1-4471-2962-2, 978-1-4471-2963-9
DOI
10.1007/978-1-4471-2963-9
Language
english
Format
PDF
Filesize
4 MB (3948296 bytes)
Edition
1
Pages
218\225
Orientation
yes
Scanned
yes
Time added
2013-08-01 04:00:00
Control; Robotics and Automation; Artificial Intel

Description

Advanced Control of Wheeled Inverted Pendulum Systems is an orderly presentation of recent ideas for overcoming the complications inherent in the control of wheeled inverted pendulum (WIP) systems, in the presence of uncertain dynamics, nonholonomic kinematic constraints as well as underactuated configurations. The text leads the reader in a theoretical exploration of problems in kinematics, dynamics modeling, advanced control design techniques and trajectory generation for WIPs. An important concern is how to deal with various uncertainties associated with the nominal model, WIPs being characterized by unstable balance and unmodelled dynamics and being subject to time-varying external disturbances for which accurate models are hard to come by. The book is self-contained, supplying the reader with everything from mathematical preliminaries and the basic Lagrange-Euler-based derivation of dynamics equations to various advanced motion control and force control approaches as well as trajectory generation method. Although primarily intended for researchers in robotic control, Advanced Control of Wheeled Inverted Pendulum Systems will also be useful reading for graduate students studying nonlinear systems more generally.

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