LEADER 03278nam 2200625 a 450 001 9910438046703321 005 20200520144314.0 010 $a9781447129639 010 $a1447129636 024 7 $a10.1007/978-1-4471-2963-9 035 $a(CKB)2550000000107775 035 $a(EBL)973675 035 $a(OCoLC)800729334 035 $a(SSID)ssj0000736221 035 $a(PQKBManifestationID)11428026 035 $a(PQKBTitleCode)TC0000736221 035 $a(PQKBWorkID)10767258 035 $a(PQKB)10977147 035 $a(DE-He213)978-1-4471-2963-9 035 $a(MiAaPQ)EBC973675 035 $a(PPN)168292246 035 $a(EXLCZ)992550000000107775 100 $a20120626d2012 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aAdvanced control of wheeled inverted pendulum systems /$fZhijun Li, Chenguang Yang, Liping Fan 205 $a1st ed. 2013. 210 $aLondon $cSpringer$d2012 215 $a1 online resource (225 p.) 300 $aDescription based upon print version of record. 311 08$a9781447158806 311 08$a1447158806 311 08$a9781447129622 311 08$a1447129628 320 $aIncludes bibliographical references and index. 327 $aMathematical 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. 330 $aAdvanced 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.  . 606 $aPendulum 606 $aRobotics 615 0$aPendulum. 615 0$aRobotics. 676 $a330.0151 700 $aLi$b Zhijun$0739921 701 $aYang$b Chenguang$0868683 701 $aFan$b Liping$01757226 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910438046703321 996 $aAdvanced control of wheeled inverted pendulum systems$94195001 997 $aUNINA