By Zhijun Li,Chenguang Yang,Liping Fan
Advanced keep an eye on of Wheeled Inverted Pendulum Systems is an orderly presentation of contemporary rules for overcoming the issues inherent within the regulate 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 keep an eye on layout innovations and trajectory new release for WIPs. a major problem is tips to care for a variety of uncertainties linked to the nominal version, WIPs being characterised by way of risky stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which exact types are demanding to return by.
The e-book is self-contained, offering the reader with every little thing from mathematical preliminaries and the elemental Lagrange-Euler-based derivation of dynamics equations to varied complex movement keep watch over and strength regulate methods in addition to trajectory iteration procedure. even supposing essentially meant for researchers in robot regulate, Advanced keep an eye on of Wheeled Inverted Pendulum platforms will even be important examining for graduate scholars learning nonlinear platforms extra generally.
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Extra info for Advanced Control of Wheeled Inverted Pendulum Systems
Advanced Control of Wheeled Inverted Pendulum Systems by Zhijun Li,Chenguang Yang,Liping Fan