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024 7 $a10.1007/978-1-4471-2963-9
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035   $a(PQKBTitleCode)TC0000736221
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035   $a(DE-He213)978-1-4471-2963-9
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100   $a20120712d2013      u|             0
101 0 $aeng
135   $aur|n|---|||||
181   $ctxt
182   $cc
183   $acr
200 10$aAdvanced Control of Wheeled Inverted Pendulum Systems$b[electronic resource] /$fby Zhijun Li, Chenguang Yang, Liping Fan
205   $a1st ed. 2013.
210  1$aLondon :$cSpringer London :$cImprint: Springer,$d2013.
215   $a1 online resource (225 p.)
300   $aDescription based upon print version of record.
311   $a1-4471-5880-6 
311   $a1-4471-2962-8 
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   $aControl engineering
606   $aRobotics
606   $aAutomation
606   $aArtificial intelligence
606   $aControl and Systems Theory$3https://scigraph.springernature.com/ontologies/product-market-codes/T19010
606   $aRobotics and Automation$3https://scigraph.springernature.com/ontologies/product-market-codes/T19020
606   $aArtificial Intelligence$3https://scigraph.springernature.com/ontologies/product-market-codes/I21000
615  0$aControl engineering.
615  0$aRobotics.
615  0$aAutomation.
615  0$aArtificial intelligence.
615 14$aControl and Systems Theory.
615 24$aRobotics and Automation.
615 24$aArtificial Intelligence.
676   $a330.0151
700   $aLi$b Zhijun$4aut$4http://id.loc.gov/vocabulary/relators/aut$0739921
702   $aYang$b Chenguang$4aut$4http://id.loc.gov/vocabulary/relators/aut
702   $aFan$b Liping$4aut$4http://id.loc.gov/vocabulary/relators/aut
906   $aBOOK
912   $a9910438046703321
996   $aAdvanced Control of Wheeled Inverted Pendulum Systems$92514852
997   $aUNINA