Advanced Control of Wheeled Inverted Pendulum Systems

• Main Authors: Li, Zhijun. (Author), Yang, Chenguang. (Author), Fan, Liping. (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic
• Language: English
• Published: London : Springer London : Imprint: Springer, 2013.
• Subjects: Engineering.; Artificial intelligence.; Control.; Robotics and Automation.; Artificial Intelligence (incl. Robotics).
• Online Access: View fulltext via EzAccess

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 con...

Table of Contents:

• Mathematical 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.