000			03141nam a22005057a 4500
001			sulb-eb0021398
003			BD-SySUS
005			20160413122143.0
007			cr nn 008mamaa
008			120712s2013 xxk| s |||| 0|eng d
020			_a9781447129639 _9978-1-4471-2963-9
024	7		_a10.1007/978-1-4471-2963-9 _2doi
050		4	_aTJ212-225
072		7	_aTJFM _2bicssc
072		7	_aTEC004000 _2bisacsh
082	0	4	_a629.8 _223
100	1		_aLi, Zhijun. _eauthor.
245	1	0	_aAdvanced Control of Wheeled Inverted Pendulum Systems _h[electronic resource] / _cby Zhijun Li, Chenguang Yang, Liping Fan.
264		1	_aLondon : _bSpringer London : _bImprint: Springer, _c2013.
300			_aXIV, 218 p. _bonline resource.
336			_atext _btxt _2rdacontent
337			_acomputer _bc _2rdamedia
338			_aonline resource _bcr _2rdacarrier
347			_atext file _bPDF _2rda
505	0		_aMathematical 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.
520			_aAdvanced 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.  .
650		0	_aEngineering.
650		0	_aArtificial intelligence.
650		0	_aControl engineering.
650		0	_aRobotics.
650		0	_aAutomation.
650	1	4	_aEngineering.
650	2	4	_aControl.
650	2	4	_aRobotics and Automation.
650	2	4	_aArtificial Intelligence (incl. Robotics).
700	1		_aYang, Chenguang. _eauthor.
700	1		_aFan, Liping. _eauthor.
710	2		_aSpringerLink (Online service)
773	0		_tSpringer eBooks
776	0	8	_iPrinted edition: _z9781447129622
856	4	0	_uhttp://dx.doi.org/10.1007/978-1-4471-2963-9
912			_aZDB-2-ENG
942			_2Dewey Decimal Classification _ceBooks
999			_c43490 _d43490