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.
Read or Download Advanced Control of Wheeled Inverted Pendulum Systems PDF
Similar robotics books
Aufbauend auf den Grundlagen der Fertigungsautomatisierung wird eine praxisnahe Projektanlage konzipiert. Die Kapitel zur Sensorik, zur Steuerungs-, Regelungs- und Antriebstechnik integrieren dann die Ergebnisse in Lösungen für die Lernanlage. Ein Glossar der Fachbegriffe in Deutsch und Englisch unterstützt die weiterführende Recherche.
This ebook deals a finished, well timed photograph of present study, applied sciences and functions of soppy robotics. the various chapters, written by way of foreign specialists throughout a number of fields of soppy robotics, disguise cutting edge platforms and applied sciences for tender robotic legged locomotion, tender robotic manipulation, underwater smooth robotics, biomimetic smooth robot structures, plant-inspired delicate robots, flying smooth robots, smooth robotics in surgical procedure, in addition to tools for his or her modeling and keep an eye on.
Experimental Robotics XV is the gathering of papers offered on the foreign Symposium on Experimental Robotics, Roppongi, Tokyo, Japan on October 3-6, 2016. seventy three clinical papers have been chosen and provided after peer review. The papers span a extensive variety of sub-fields in robotics together with aerial robots, cellular robots, actuation, greedy, manipulation, making plans and keep an eye on and human-robot interplay, yet shared state-of-the-art techniques and paradigms to experimental robotics.
This publication records the cutting-edge within the box of ambient assisted dwelling (AAL), highlighting the outstanding power of novel methodologies and applied sciences to reinforce health and wellbeing and advertise energetic getting older. The assurance is vast ranging, with sections on assistive units, aged humans tracking, domestic rehabilitation, ICT strategies for AAL, dwelling with persistent stipulations, robot counsel for the aged, sensing applied sciences for AAL, and shrewdpermanent housing.
- Emerging Therapies in Neurorehabilitation: 4 (Biosystems & Biorobotics)
- Control and Mechatronics (Industrial Electronics)
- Piezoelectric-Based Vibration Control: From Macro to Micro/Nano Scale Systems
- Feedback Control of Dynamic Bipedal Robot Locomotion (Automation and Control Engineering)
- Bildverarbeitung und Objekterkennung: Computer Vision in Industrie und Medizin (German Edition)
- New Trends in Medical and Service Robots: Design, Analysis and Control (Mechanisms and Machine Science)
Additional info for Advanced Control of Wheeled Inverted Pendulum Systems