LEADER 03609nam 2200517 450 001 9910659480603321 005 20230521154130.0 010 $a981-19-7157-9 024 7 $a10.1007/978-981-19-7157-0 035 $a(CKB)5700000000347175 035 $a(MiAaPQ)EBC7206693 035 $a(Au-PeEL)EBL7206693 035 $a(DE-He213)978-981-19-7157-0 035 $a(PPN)268207445 035 $a(EXLCZ)995700000000347175 100 $a20230521d2023 uy 0 101 0 $aeng 135 $aurcnu|||||||| 181 $ctxt$2rdacontent 182 $cc$2rdamedia 183 $acr$2rdacarrier 200 10$aRobust and intelligent control of a typical underactuated robot $emobile wheeled inverted pendulum /$fJian Huang, Mengshi Zhang, and Toshio Fukuda 205 $a1st ed. 2023. 210 1$aSingapore :$cSpringer,$d[2023] 210 4$dİ2023 215 $a1 online resource (123 pages) 225 1 $aResearch on Intelligent Manufacturing,$x2523-3394 311 $a981-19-7156-0 327 $aChapter 1 Introduction -- Chapter 2 Modeling of Mobile Wheeled Inverted Pendulums -- Chapter 3 Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems -- Chapter 4 Sliding Mode Variable Structure Based Chattering Avoidance Control for Mobile Wheeled Inverted Pendulums -- Chapter 5 Interval Type-2 Fuzzy Logic Control of Mobile Wheeled Inverted Pendulums -- Chapter 6 Experiments of Controlling Real Mobile Wheeled Inverted Pendulums -- Chapter 7 Conclusion. 330 $aThis book presents the achievements of the author's team in the research of a special underactuated system called mobile wheeled inverted pendulum (MWIP) developed over recent years. It focuses on a combination of theory and practice, and almost all algorithms are verified on the real MWIP system. Taking the dynamic modeling, control, and simulation as the mainline, this book first introduces the particularity, control challenges, and applications of the MWIP system. Then, Lagrange function is adopted to model the dynamics of two-dimensional and three-dimensional MWIP systems. Then, based on the special characteristics of the MWIP?s dynamics, a new high-order disturbance observer is designed, and a control strategy is proposed by combining the high-order disturbance observer with a novel design of sliding mode manifold. Furthermore, several methods to overcome the chattering problem of the traditional sliding mode control are presented in detail. Besides, some intelligent algorithms related to the interval type-2 fuzzy logic control are applied to the MWIP system. Finally, the future development of underactuated robot has been prospected. This book is intended for researchers and engineers in robotics and control. It can also be used as supplementary reading for nonlinear systems theory at the graduate level. The in-depth theory and detailed platform construction provide an excellent convenience for readers to build their platforms and learn the knowledge they need. 410 0$aResearch on Intelligent Manufacturing,$x2523-3394 606 $aIntelligent control systems 606 $aRobots$xControl systems 615 0$aIntelligent control systems. 615 0$aRobots$xControl systems. 676 $a741.5 700 $aHuang$b Jian$c(Biologist),$0430565 702 $aZhang$b Mengshi 702 $aFukuda$b Toshio 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910659480603321 996 $aRobust and intelligent control of a typical underactuated robot$93375278 997 $aUNINA