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

By Zhijun Li,Chenguang Yang,Liping Fan

Advanced keep watch over of Wheeled Inverted Pendulum Systems is an orderly presentation of contemporary rules for overcoming the problems inherent within the keep an eye on 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, complicated keep an eye on layout concepts and trajectory new release for WIPs. an immense predicament is the best way to take care of quite a few uncertainties linked to the nominal version, WIPs being characterised by way of volatile stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which exact types 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 complex movement keep an eye on and strength keep watch over techniques in addition to trajectory iteration technique. even though basically meant for researchers in robot regulate, Advanced keep an eye on of Wheeled Inverted Pendulum structures will even be necessary analyzing 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

Spatial Reasoning and Planning: Geometry, Mechanism, and Motion (Advanced Information Processing)

Spatial reasoning and making plans is a center constituent in robotics, photos, computer-aided layout, and geographic details platforms. After a evaluate of prior paintings within the comparable parts, Liu and Daneshmend current a unified framework for qualitative spatial illustration and reasoning. This paves the way in which for a new release of suggestions to spatial difficulties the place the geometric wisdom is obscure.

Advanced Electrical Drives: Analysis, Modeling, Control (Power Systems)

Electric drives convert in a managed demeanour, electricity into mechanical power. electric drives include an electric computer, i. e. an electro-mechanical strength converter, an influence digital converter, i. e. an electrical-to-electrical converter, and a controller/communication unit. this day, electric drives are used as propulsion structures in high-speed trains, elevators, escalators, electrical ships, electrical forklift vans and electrical cars.

Autonomy and Artificial Intelligence: A Threat or Savior?

This book explores how synthetic Intelligence (AI), by leading to a rise in the autonomy of machines and robots, is offering possibilities for an extended yet doubtful impression on society by humans, machines, and robots. to aid readers higher comprehend the relationships between AI, autonomy, humans and machines that will help society reduce human errors in the use of advanced technologies (e.

Additional resources for Advanced Control of Wheeled Inverted Pendulum Systems

Sample text

Download PDF sample

Rated 4.16 of 5 – based on 25 votes