By Zhijun Li,Chenguang Yang,Liping Fan
Advanced keep watch over of Wheeled Inverted Pendulum Systems is an orderly presentation of modern principles for overcoming the issues inherent within the regulate of wheeled inverted pendulum (WIP) platforms, within the presence of doubtful dynamics, nonholonomic kinematic constraints in addition to underactuated configurations. The textual content leads the reader in a theoretical exploration of difficulties in kinematics, dynamics modeling, complex keep an eye on layout concepts and trajectory new release for WIPs. a major quandary is tips to take care of a variety of uncertainties linked to the nominal version, WIPs being characterised through volatile stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which actual versions are challenging to come back by.
The e-book is self-contained, providing the reader with every little thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to numerous complex movement regulate and strength regulate methods in addition to trajectory new release approach. even if essentially meant for researchers in robot keep an eye on, Advanced regulate of Wheeled Inverted Pendulum structures will even be necessary analyzing for graduate scholars learning nonlinear platforms extra generally.
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