Advanced Control of Wheeled Inverted Pendulum Systems

  • Zhijun Li
  • Chenguang Yang
  • Liping Fan

Table of contents

  1. Front Matter
    Pages I-XIV
  2. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 1-11
  3. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 13-36
  4. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 37-54
  5. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 55-75
  6. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 77-97
  7. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 99-126
  8. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 127-173
  9. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 175-191
  10. Zhijun Li, Chenguang Yang, Liping Fan
    Pages 193-210
  11. Back Matter
    Pages 211-218

About this book

Introduction

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.

 

Keywords

Dynamic Balance Intelligent Control Inverted Pendulum Learning Impedance Control Least Squares Support Vector Machines Modular Control Systems Nonholonomic Systems Robot Control Stability Problems Underactuated Systems

Authors and affiliations

  • Zhijun Li
    • 1
  • Chenguang Yang
    • 2
  • Liping Fan
    • 3
  1. 1.Department of AutomationShanghai Jiao Tong UniversityShanghaiChina, People's Republic
  2. 2.School of Computing and MathematicsUniversity of PlymouthPlymouthUnited Kingdom
  3. 3.Department of AutomationJiao Tong UniversityShanghaiChina, People's Republic

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4471-2963-9
  • Copyright Information Springer-Verlag London 2013
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-1-4471-2962-2
  • Online ISBN 978-1-4471-2963-9