| 书目名称 | Robust and Intelligent Control of a Typical Underactuated Robot |
| 副标题 | Mobile Wheeled Inver |
| 编辑 | Jian Huang,Mengshi Zhang,Toshio Fukuda |
| 视频video | |
| 概述 | Combines mechanical and nonlinear control expertise toward the modeling and controlling of a typical underactuated robot.Studies the theory and implementations of robust intelligent control algorithms |
| 丛书名称 | Research on Intelligent Manufacturing |
| 图书封面 |  |
| 描述 | This book presents the achievements of the author‘s team in the research of a special underactuated system called mobile wheeled inverted pendulum (MWIP) developed over recent years. It focuses on a combination of theory and practice, and almost all algorithms are verified on the real MWIP system. Taking the dynamic modeling, control, and simulation as the mainline, this book first introduces the particularity, control challenges, and applications of the MWIP system. Then, Lagrange function is adopted to model the dynamics of two-dimensional and three-dimensional MWIP systems. Then, based on the special characteristics of the MWIP’s dynamics, a new high-order disturbance observer is designed, and a control strategy is proposed by combining the high-order disturbance observer with a novel design of sliding mode manifold. Furthermore, several methods to overcome the chattering problem of the traditional sliding mode control are presented in detail. Besides, some intelligent algorithms related to the interval type-2 fuzzy logic control are applied to the MWIP system. Finally, the future development of underactuated robot has been prospected..This book is intended for researchers and e |
| 出版日期 | Book 2023 |
| 关键词 | Underactuated system; Mobile wheeled inverted pendulum; Dynamic modeling; Nonlinear control; Robust and |
| 版次 | 1 |
| doi | https://doi.org/10.1007/978-981-19-7157-0 |
| isbn_softcover | 978-981-19-7159-4 |
| isbn_ebook | 978-981-19-7157-0Series ISSN 2523-3386 Series E-ISSN 2523-3394 |
| issn_series | 2523-3386 |
| copyright | Huazhong University of Science and Technology Press 2023 |
发表于 2025-3-21 17:34:04
