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Engineering - Control Engineering | Advanced Control of Wheeled Inverted Pendulum Systems

Advanced Control of Wheeled Inverted Pendulum Systems

Li, Zhijun, Yang, Chenguang, Fan, Liping

2013, XIV, 218 p.

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  • Shows the reader current ideas on wheeled mobile robot control
  • Gives the investigator a self-contained guide to the mobile version of a standard control test system
  • Shows the reader how to actualize concepts of nonlinear control in a real system

Advanced Control of Wheeled Inverted Pendulum Systems is an orderly presentation of recent ideas for overcoming the complications inherent in the control of wheeled inverted pendulum (WIP) systems, in the presence of uncertain dynamics, nonholonomic kinematic constraints as well as underactuated configurations. The text leads the reader in a theoretical exploration of problems in kinematics,dynamics modeling, advanced control design techniques,and trajectory generation for WIPs. An important concern is how to deal with various uncertainties associated with the nominal model, WIPs being characterized by unstable balance and unmodelled dynamics and being subject to time-varying external disturbances for which accurate models are hard to come by.

 

The book is self-contained, supplying the reader with everything from mathematical preliminaries and the basic Lagrange-Euler-based derivation of dynamics equations to various advanced motion control and force control approaches as well as trajectory generation method. Although primarily intended for researchers in robotic control, Advanced Control of Wheeled Inverted Pendulum Systems will also be useful reading for graduate students studying nonlinear systems more generally.

 

Content Level » Research

Keywords » Dynamic Balance - Intelligent Control - Inverted Pendulum - Learning Impedance Control - Least Squares Support Vector Machines - Modular Control Systems - Nonholonomic Systems - Robot Control - Stability Problems - Underactuated Systems

Related subjects » Artificial Intelligence - Control Engineering - Robotics

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