000 03125nam a22005055i 4500
001 978-1-4471-2963-9
003 DE-He213
005 20200421112035.0
007 cr nn 008mamaa
008 120712s2013 xxk| s |||| 0|eng d
020 _a9781447129639
_9978-1-4471-2963-9
024 7 _a10.1007/978-1-4471-2963-9
_2doi
050 4 _aTJ212-225
072 7 _aTJFM
_2bicssc
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.8
_223
100 1 _aLi, Zhijun.
_eauthor.
245 1 0 _aAdvanced Control of Wheeled Inverted Pendulum Systems
_h[electronic resource] /
_cby Zhijun Li, Chenguang Yang, Liping Fan.
264 1 _aLondon :
_bSpringer London :
_bImprint: Springer,
_c2013.
300 _aXIV, 218 p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
505 0 _aMathematical 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.
520 _aAdvanced 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$1!+8(Bdynamics 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.  .
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aControl.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
700 1 _aYang, Chenguang.
_eauthor.
700 1 _aFan, Liping.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9781447129622
856 4 0 _uhttp://dx.doi.org/10.1007/978-1-4471-2963-9
912 _aZDB-2-ENG
942 _cEBK
999 _c56281
_d56281