By Zhijun Li,Chenguang Yang,Liping Fan

Advanced regulate of Wheeled Inverted Pendulum Systems is an orderly presentation of modern principles for overcoming the issues inherent within the keep an eye on 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 options and trajectory iteration for WIPs. a major trouble is easy methods to take care of numerous uncertainties linked to the nominal version, WIPs being characterised via volatile stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which actual versions are not easy to come back by.


The ebook is self-contained, delivering the reader with every thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to numerous complicated movement regulate and strength regulate techniques in addition to trajectory iteration strategy. even though essentially meant for researchers in robot keep an eye on, Advanced keep an eye on of Wheeled Inverted Pendulum structures will even be valuable studying for graduate scholars learning nonlinear structures extra generally.


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Advanced Control of Wheeled Inverted Pendulum Systems by Zhijun Li,Chenguang Yang,Liping Fan

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