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Advanced Control of Wheeled Inverted Pendulum Systems (Paperback, 2013 ed.)
Loot Price: R4,384
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Advanced Control of Wheeled Inverted Pendulum Systems (Paperback, 2013 ed.)
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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.
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