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

By Zhijun Li,Chenguang Yang,Liping Fan

Advanced keep watch over of Wheeled Inverted Pendulum Systems is an orderly presentation of modern principles for overcoming the problems inherent within the keep watch over of wheeled inverted pendulum (WIP) platforms, 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 suggestions and trajectory iteration for WIPs. a big predicament is the best way to care for a number of 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 exact types are tough to come back by.


The publication is self-contained, providing the reader with every thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to varied complex movement regulate and strength keep watch over techniques in addition to trajectory new release process. even supposing essentially meant for researchers in robot keep an eye on, Advanced keep an eye on of Wheeled Inverted Pendulum platforms will even be priceless analyzing for graduate scholars learning nonlinear platforms extra generally.


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

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