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 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.


Show description

Read or Download Advanced Control of Wheeled Inverted Pendulum Systems PDF

Similar robotics books

Microbiorobotics: Biologically Inspired Microscale Robotic Systems (Micro and Nano Technologies)

Microbiorobotics is a brand new engineering self-discipline that inherently contains a multidisciplinary strategy (mechanical engineering, mobile biology, mathematical modeling, keep an eye on platforms, artificial biology, etc). construction robotics procedure within the micro scale is an engineering job that has led to many very important functions, starting from micromanufacturing innovations to mobile manipulation.

Starr-elastische Robotersysteme: Theorie und Anwendungen (German Edition)

Das Werk präsentiert eine durchgängige Methodik für starre und elastische Roboter. Hauptaugenmerk wird auf eine effiziente mathematische Beschreibung dieser Roboter gelegt. Die Modelle dienen als Grundlage für den Reglerentwurf. Die Regelung, inklusive der experimentellen Ergebnisse, wird anhand verschiedener Anwendungsbeispiele diskutiert: elastische Knickarm- und Linearroboter, (redundante) Industrieroboter, cellular Roboter und Bewegungssimulatoren.

Computer Aided Design in Control Systems 1988: Selected Papers from the 4th IFAC Symposium, Beijing, PRC, 23-25 August 1988 (IFAC Symposia Series)

This quantity comprises seventy three papers, providing the state-of-the-art in computer-aided layout up to the mark structures (CADCS). the most recent info and trade of principles awarded on the Symposium illustrates the improvement of computer-aided layout technological know-how and know-how inside of regulate platforms. The complaints comprise six plenary papers and 6 distinct invited papers, and the remaining are divided into 5 subject matters: CADCS programs; CADCS software program and undefined; platforms layout equipment; CADCS professional structures; CADCS purposes, with eventually a dialogue on CADCS in schooling and learn.

Extra info for Advanced Control of Wheeled Inverted Pendulum Systems

Sample text

Download PDF sample

Rated 4.00 of 5 – based on 9 votes