By Zhijun Li
Advanced regulate of Wheeled Inverted Pendulum Systems is an orderly presentation of contemporary rules for overcoming the problems inherent within the keep an eye on of wheeled inverted pendulum (WIP) platforms, within the presence of doubtful dynamics, nonholonomic kinematic constraints in addition to underactuated configurations. The textual content leads the reader in a theoretical exploration of difficulties in kinematics, dynamics modeling, complex keep watch over layout thoughts and trajectory iteration for WIPs. an immense situation is the best way to take care of a variety of uncertainties linked to the nominal version, WIPs being characterised via volatile stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which exact types are tough to come back by.
The ebook is self-contained, delivering the reader with every little thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to varied complex movement regulate and strength keep watch over methods in addition to trajectory iteration approach. even though essentially meant for researchers in robot regulate, Advanced regulate of Wheeled Inverted Pendulum structures will even be invaluable examining for graduate scholars learning nonlinear platforms extra generally.