Advanced control of wheeled inverted pendulum systems:
<p><i>Advanced Control o</i><i>f Wheeled Inverted Pendulum Systems</i> 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 kin...
Gespeichert in:
| Beteilige Person: | |
|---|---|
| Format: | Elektronisch E-Book |
| Sprache: | Englisch |
| Veröffentlicht: |
London [u.a.]
Springer
2013
|
| Schlagwörter: | |
| Links: | https://doi.org/10.1007/978-1-4471-2963-9 https://doi.org/10.1007/978-1-4471-2963-9 https://doi.org/10.1007/978-1-4471-2963-9 https://doi.org/10.1007/978-1-4471-2963-9 https://doi.org/10.1007/978-1-4471-2963-9 https://doi.org/10.1007/978-1-4471-2963-9 https://doi.org/10.1007/978-1-4471-2963-9 https://doi.org/10.1007/978-1-4471-2963-9 https://doi.org/10.1007/978-1-4471-2963-9 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025492930&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025492930&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| Zusammenfassung: | <p><i>Advanced Control o</i><i>f Wheeled Inverted Pendulum Systems</i> 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.</p><p> </p><p>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, <i>Advanced Control of Wheeled Inverted Pendulum Systems </i>will also be useful reading for graduate students studying nonlinear systems more generally.</p><p> </p> |
| Beschreibung: | Mathematical Preliminaries -- Modeling of the MWIP System -- Path Planning and Motion Generation -- Linear Control Methods -- Nonlinear Control Methods -- Model-reference Adaptive Control -- Model-free Intelligent Control -- Learning Impedance Control -- Conclusions and Perspectives |
| Umfang: | 1 Online-Ressource (XIV, 218 p. 97 illus., 26 illus. in color) |
| ISBN: | 9781447129639 |
| DOI: | 10.1007/978-1-4471-2963-9 |
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| 520 | |a <p><i>Advanced Control o</i><i>f Wheeled Inverted Pendulum Systems</i> 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.</p><p> </p><p>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, <i>Advanced Control of Wheeled Inverted Pendulum Systems </i>will also be useful reading for graduate students studying nonlinear systems more generally.</p><p> </p> | ||
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Datensatz im Suchindex
| _version_ | 1819283286916071424 |
|---|---|
| adam_text | ADVANCED CONTROL OF WHEELED INVERTED PENDULUM SYSTEMS
/ LI, ZHIJUN
: 2013
TABLE OF CONTENTS / INHALTSVERZEICHNIS
MATHEMATICAL PRELIMINARIES
MODELING OF THE MWIP SYSTEM
PATH PLANNING AND MOTION GENERATION
LINEAR CONTROL METHODS
NONLINEAR CONTROL METHODS
MODEL-REFERENCE ADAPTIVE CONTROL
MODEL-FREE INTELLIGENT CONTROL
LEARNING IMPEDANCE CONTROL
CONCLUSIONS AND PERSPECTIVES
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
ADVANCED CONTROL OF WHEELED INVERTED PENDULUM SYSTEMS
/ LI, ZHIJUN
: 2013
ABSTRACT / INHALTSTEXT
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.
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
| any_adam_object | 1 |
| author | Li, Zhijun |
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| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
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| indexdate | 2024-12-20T16:20:05Z |
| institution | BVB |
| isbn | 9781447129639 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-025492930 |
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| physical | 1 Online-Ressource (XIV, 218 p. 97 illus., 26 illus. in color) |
| psigel | ZDB-2-ENG |
| publishDate | 2013 |
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| publisher | Springer |
| record_format | marc |
| spellingShingle | Li, Zhijun Advanced control of wheeled inverted pendulum systems Ingenieurwissenschaften Künstliche Intelligenz Engineering Artificial intelligence |
| title | Advanced control of wheeled inverted pendulum systems |
| title_auth | Advanced control of wheeled inverted pendulum systems |
| title_exact_search | Advanced control of wheeled inverted pendulum systems |
| title_full | Advanced control of wheeled inverted pendulum systems Zhijun Li ; Chenguang Yang ; Liping Fan |
| title_fullStr | Advanced control of wheeled inverted pendulum systems Zhijun Li ; Chenguang Yang ; Liping Fan |
| title_full_unstemmed | Advanced control of wheeled inverted pendulum systems Zhijun Li ; Chenguang Yang ; Liping Fan |
| title_short | Advanced control of wheeled inverted pendulum systems |
| title_sort | advanced control of wheeled inverted pendulum systems |
| topic | Ingenieurwissenschaften Künstliche Intelligenz Engineering Artificial intelligence |
| topic_facet | Ingenieurwissenschaften Künstliche Intelligenz Engineering Artificial intelligence |
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