03278nam 2200625 a 450 991043804670332120200520144314.09781447129639144712963610.1007/978-1-4471-2963-9(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)99255000000010777520120626d2012 uy 0engur|n|---|||||txtccrAdvanced control of wheeled inverted pendulum systems /Zhijun Li, Chenguang Yang, Liping Fan1st ed. 2013.London Springer20121 online resource (225 p.)Description based upon print version of record.9781447158806 1447158806 9781447129622 1447129628 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.  .PendulumRoboticsPendulum.Robotics.330.0151Li Zhijun739921Yang Chenguang868683Fan Liping1757226MiAaPQMiAaPQMiAaPQBOOK9910438046703321Advanced control of wheeled inverted pendulum systems4195001UNINA