By Zhijun Li,Chenguang Yang,Liping Fan
Advanced keep watch over of Wheeled Inverted Pendulum Systems is an orderly presentation of contemporary 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 regulate layout innovations and trajectory new release for WIPs. an immense challenge is the way to take care of numerous uncertainties linked to the nominal version, WIPs being characterised via risky stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which exact types are not easy to return by.
The publication is self-contained, offering the reader with every thing from mathematical preliminaries and the elemental Lagrange-Euler-based derivation of dynamics equations to varied complicated movement regulate and strength keep an eye on methods in addition to trajectory iteration process. even though basically meant for researchers in robot regulate, Advanced regulate of Wheeled Inverted Pendulum platforms will even be worthwhile interpreting for graduate scholars learning nonlinear platforms extra generally.
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