By Zhijun Li,Chenguang Yang,Liping Fan

Advanced keep watch over of Wheeled Inverted Pendulum Systems is an orderly presentation of contemporary principles for overcoming the issues inherent within the regulate 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 thoughts and trajectory iteration for WIPs. an enormous obstacle is how one can care for 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 difficult to return by.


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


Show description

Read Online or Download Advanced Control of Wheeled Inverted Pendulum Systems PDF

Similar robotics books

The Coming Robot Revolution: Expectations and Fears About Emerging Intelligent, Humanlike Machines

Creating a robotic that appears and behaves like a individual has been the topic of many well known technology fiction video clips and books. even supposing the advance of this kind of robotic facesmanychallenges,themakingofavirtualhumanhaslongbeenpotentiallypossible. With fresh advances in numerous key applied sciences concerning and software program, the making of humanlike robots is more and more turning into an engineering truth.

Omnidirectional Vision Systems: Calibration, Feature Extraction and 3D Information (SpringerBriefs in Computer Science)

This paintings specializes in imperative catadioptric platforms, from the early step of calibration to high-level initiatives resembling 3D info retrieval. The ebook opens with an intensive creation to the field digital camera version, besides an research of the relation among this version and real relevant catadioptric structures.

Disassembly Automation: Automated Systems with Cognitive Abilities (Sustainable Production, Life Cycle Engineering and Management)

This ebook provides a couple of elements to be thought of within the improvement of disassembly automation, together with the mechanical procedure, imaginative and prescient procedure and clever planner. The implementation of cognitive robotics raises the pliability and measure of autonomy of the disassembly procedure. Disassembly, as a step within the therapy of end-of-life items, can enable the restoration of embodied worth left inside of disposed items, in addition to the perfect separation of potentially-hazardous elements.

Current Technologies in Vehicular Communication

This publication offers a concise and complete assessment of vehicular conversation applied sciences. It classifies all suitable criteria, protocols and purposes, on the way to let the reader to realize a holistic strategy in the direction of the topic of vehicular communications. the first equipment are algorithmic approaches and simulation effects.

Extra info for Advanced Control of Wheeled Inverted Pendulum Systems

Sample text

Download PDF sample

Rated 4.05 of 5 – based on 9 votes