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.
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