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

By Zhijun Li,Chenguang Yang,Liping Fan

ISBN-10: 1447129628

ISBN-13: 9781447129622

ISBN-10: 1447158806

ISBN-13: 9781447158806

Advanced regulate 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) 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 recommendations and trajectory new release for WIPs. a major trouble is how you can care for a variety of uncertainties linked to the nominal version, WIPs being characterised by means of volatile stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which actual types are difficult to return by.


The ebook is self-contained, offering the reader with every thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to varied complex movement keep watch over and strength regulate ways in addition to trajectory iteration approach. even if basically meant for researchers in robot regulate, Advanced keep watch over of Wheeled Inverted Pendulum structures will even be priceless analyzing for graduate scholars learning nonlinear structures extra generally.


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

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