By Zhijun Li,Chenguang Yang,Liping Fan
Advanced keep an eye on of Wheeled Inverted Pendulum Systems is an orderly presentation of contemporary principles for overcoming the issues inherent within the keep an eye on 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, complicated keep an eye on layout suggestions and trajectory new release for WIPs. a big main issue is the 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 not easy to return by.
The ebook is self-contained, providing the reader with every thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to varied complex movement keep an eye on and strength keep an eye on ways in addition to trajectory iteration procedure. even though essentially meant for researchers in robot regulate, Advanced regulate of Wheeled Inverted Pendulum structures will even be necessary interpreting for graduate scholars learning nonlinear platforms extra generally.
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