03949nam 22006735 450 991043804670332120200630034050.01-4471-2963-610.1007/978-1-4471-2963-9(CKB)2550000000107775(EBL)973675(OCoLC)800729334(SSID)ssj0000736221(PQKBManifestationID)11428026(PQKBTitleCode)TC0000736221(PQKBWorkID)10767258(PQKB)10977147(DE-He213)978-1-4471-2963-9(MiAaPQ)EBC973675(PPN)168292246(EXLCZ)99255000000010777520120712d2013 u| 0engur|n|---|||||txtccrAdvanced Control of Wheeled Inverted Pendulum Systems[electronic resource] /by Zhijun Li, Chenguang Yang, Liping Fan1st ed. 2013.London :Springer London :Imprint: Springer,2013.1 online resource (225 p.)Description based upon print version of record.1-4471-5880-6 1-4471-2962-8 Includes bibliographical references and index.Mathematical Preliminaries -- Modeling of the MWIP System -- Path Planning and Motion Generation -- Linear Control Methods -- Nonlinear Control Methods -- Model-reference Adaptive Control -- Model-free Intelligent Control -- Learning Impedance Control -- Conclusions and Perspectives.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.  .Control engineeringRoboticsAutomationArtificial intelligenceControl and Systems Theoryhttps://scigraph.springernature.com/ontologies/product-market-codes/T19010Robotics and Automationhttps://scigraph.springernature.com/ontologies/product-market-codes/T19020Artificial Intelligencehttps://scigraph.springernature.com/ontologies/product-market-codes/I21000Control engineering.Robotics.Automation.Artificial intelligence.Control and Systems Theory.Robotics and Automation.Artificial Intelligence.330.0151Li Zhijunauthttp://id.loc.gov/vocabulary/relators/aut739921Yang Chenguangauthttp://id.loc.gov/vocabulary/relators/autFan Lipingauthttp://id.loc.gov/vocabulary/relators/autBOOK9910438046703321Advanced Control of Wheeled Inverted Pendulum Systems2514852UNINA