Advanced Control of Wheeled Inverted Pendulum Systems [electronic resource] /by Zhijun Li, Chenguang Yang, Liping Fan.
by Li, Zhijun [author.]; Yang, Chenguang [author.]; Fan, Liping [author.]; SpringerLink (Online service).
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BookPublisher: London : Springer London : 2013.Description: XIV, 218 p. 97 illus., 26 illus. in color. online resource.ISBN: 9781447129639.Subject(s): Engineering | Artificial intelligence | Engineering | Control | Robotics and Automation | Artificial Intelligence (incl. Robotics)DDC classification: 629.8 Online resources: Click here to access online | Item type | Current location | Call number | Status | Date due | Barcode |
|---|---|---|---|---|---|
| MAIN LIBRARY | TJ212-225 (Browse shelf) | Available |
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| RC681-688.2 Therapeutic Hypothermia After Cardiac Arrest | TA177.4-185 Manufacturing Outsourcing | TJ212-225 Search and Classification Using Multiple Autonomous Vehicles | TJ212-225 Advanced Control of Wheeled Inverted Pendulum Systems | QA75.5-76.95 Behavior Computing | TJ807-830 Modern Energy Markets | QA370-380 Partial Differential Equations 1 |
Mathematical Preliminaries -- Modeling of the MWIP System -- Path Planning and Motion Generation -- Linear Control Methods -- Nonlinear Control Methods -- Model-reference Adaptive Control -- Model-free Intelligent Control -- Learning Impedance Control -- Conclusions and Perspectives.
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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