2012年7月Springer London Ltd出版的書籍，作者Zhijun, Ling / Yang, Yuhang / Fan, Liping
基本介紹
- 中文名：Advanced Control of Wheeled Inverted Pendulum Systems
- 作者：Zhijun, Ling / Yang, Yuhang / Fan, Liping
- 出版社：Springer London Ltd
- 出版時間：2012年7月
- 頁數：240 頁
- ISBN： 9781447129622
內容簡介,
內容簡介
"Advanced 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.
