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Advanced Control of Wheeled Inverted Pendulum Systems

Advanced Control of Wheeled Inverted Pendulum Systems
Kataloginformation
Feldname Details
Vorliegende Sprache eng
Hinweise auf parallele Ausgaben 384924980 Buchausg. u.d.T.: ‡Li, Zhijun: Advanced control of wheeled inverted pendulum systems
ISBN 978-1-4471-2962-2
Name Li, Zhijun
Yang, Chenguang
Name ANZEIGE DER KETTE Yang, Chenguang
Name Fan, Liping
T I T E L Advanced Control of Wheeled Inverted Pendulum Systems
Verlagsort London
Verlag Springer
Erscheinungsjahr 2013
2013
Umfang Online-Ressource (XIV, 218 p. 97 illus., 26 illus. in color, digital)
Reihe SpringerLink. Bücher
Notiz / Fußnoten Description based upon print version of record
Weiterer Inhalt Advanced Control of Wheeled Inverted Pendulum Systems; Preface; Acknowledgments; Contents; List of Symbols; Chapter 1: Introduction; 1.1 An Overview of WIP Robots; 1.2 Difficulties of Controlling WIP Systems; 1.3 Outline of Book; Chapter 2: Mathematical Preliminaries; 2.1 Introduction; 2.2 Matrix Algebra; Matrix Definition; Inner and Outer Product; Linear Independent of Vectors; Vector Norms; Determinants of Matrix; Eigenvalues and Properties of Matrix; Diagonal Matrix; Induced Norm of Matrices; 2.3 Norms for Functions; Differentiable Function; Mean Value Theorem; Function Norms. Definition and Properties of Sign Functions2.4 Definitions; 2.5 Lemmas and Theorems; 2.6 Input-to-State Stability; 2.7 Lyapunov's Direct Method; 2.8 Barbalat-Like Lemmas; 2.9 Controllability and Observability of Nonlinear Systems; 2.9.1 Controllability; 2.9.2 Observability; 2.9.3 Brockett's Theorem on Feedback Stabilization; 2.10 Lyapunov Theorems; Invariant Set Theorems; 2.11 Notes and References; Chapter 3: Modeling of WIP Systems; 3.1 Introduction; 3.2 Kinematics of the WIP Systems; 3.3 Dynamics of WIP Systems; 3.3.1 Lagrange-Euler Equations; 3.3.2 Kinetic Energy; 3.3.3 Potential Energy. 3.3.4 Lagrangian Equations3.3.5 Properties of Mechanical Dynamics; 3.3.6 Dynamics of Wheeled Inverted Pendulum; 3.4 Newton-Euler Approach; 3.5 Conclusion; Chapter 4: Linear Control; 4.1 Introduction; 4.2 Linearization of the WIP Dynamics; 4.3 PD Control Design; 4.4 LQR based Optimal Control Design; 4.5 Hinfty Control; 4.5.1 Riccati-Based Hinfty Control; 4.5.2 LMI-Based Hinfty Control; 4.6 Backstepping; Step 1; Step 2; 4.7 Simulation Studies; 4.7.1 PD Control; 4.7.2 LQR Control; 4.7.3 Hinfty-Like Riccati Control; 4.7.4 LMI-Based Hinfty Control; 4.7.5 Backstepping Control; 4.8 Conclusion. Chapter 5: Nonlinear Control5.1 Introduction; 5.2 Preliminaries; 5.3 System Dynamics; 5.4 Nonlinear Feedback Linearization; 5.5 Model Based Control Design; zeta1-Subsystem; zeta3-Subsystem; zeta2-Subsystem; 5.6 Model-Based Disturbance Rejection Control; 5.7 Simulation Studies; 5.8 Conclusion; Chapter 6: Adaptive Control; 6.1 Introduction; 6.2 Motion Control; 6.2.1 Adaptive Robust Control Design; zeta3-Subsystem; zeta2-Subsystem; 6.2.2 Zero-Dynamics Stability Analysis; 6.2.3 Simulation Studies; 6.3 Hybrid Force and Motion Control; 6.3.1 Preliminaries and Dynamics Transformation. 6.3.2 Motion Control of z2 and z3-Subsystems6.3.3 Stability Analysis of the z1-Subsystem; 6.3.4 Force Control; 6.3.5 Simulation Studies; 6.3.6 Conclusions; Chapter 7: Intelligent Control; 7.1 Introduction; 7.2 SVM Control; 7.2.1 Preliminaries; 7.2.2 Reduced Dynamics and Physical Properties; 7.2.3 LS-SVM Based Model Learning; LS-SVM; On-line Training with Time Window; 7.2.4 LS-SVM Based Control Design; zeta1 and zeta3-Subsystems; zeta2-Subsystem; 7.2.5 Simulation Studies; 7.3 Fuzzy Control; 7.3.1 Preliminaries; 7.3.2 Functional Universal Approximation Using FLSs; 7.3.3 Adaptive Fuzzy Control. zeta1-Subsystem
Titelhinweis Buchausg. u.d.T.: ‡Li, Zhijun: Advanced control of wheeled inverted pendulum systems
ISBN ISBN 978-1-4471-2963-9
Klassifikation TJFM
TEC004000
629.892
629.8
531.324
TJ212-225
ZQ 5664
Kurzbeschreibung 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.
SWB-Titel-Idn 373362978
Signatur Springer E-Book
Bemerkungen Elektronischer Volltext - Campuslizenz
Elektronische Adresse $uhttp://dx.doi.org/10.1007/978-1-4471-2963-9
Internetseite / Link Volltext
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