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

By Zhijun Li,Chenguang Yang,Liping Fan

Advanced keep watch over 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 regulate layout concepts and trajectory new release for WIPs. a tremendous situation is tips to care for numerous uncertainties linked to the nominal version, WIPs being characterised via risky stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which exact types are not easy to return by.


The publication is self-contained, delivering the reader with every little thing from mathematical preliminaries and the elemental Lagrange-Euler-based derivation of dynamics equations to numerous complex movement keep an eye on and strength regulate techniques in addition to trajectory iteration procedure. even though basically meant for researchers in robot regulate, Advanced keep watch over of Wheeled Inverted Pendulum structures will even be valuable interpreting for graduate scholars learning nonlinear structures extra generally.


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