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Robust and intelligent control of a typical underactuated robotmobile wheeled inverted pendulum /

Record Type:	Electronic resources : Monograph/item
Title/Author:	Robust and intelligent control of a typical underactuated robotby Jian Huang, Mengshi Zhang, Toshio Fukuda.
Reminder of title:	mobile wheeled inverted pendulum /
Author:	Huang, Jian.
other author:	Zhang, Mengshi.
Published:	Singapore :Springer Nature Singapore :2023.
Description:	x, 117 p. :ill., digital ;24 cm.
Contained By:	Springer Nature eBook
Subject:	Intelligent control systems.
Online resource:	https://doi.org/10.1007/978-981-19-7157-0
ISBN:	9789811971570$q(electronic bk.)

Robust and intelligent control of a typical underactuated robotmobile wheeled inverted pendulum /
Huang, Jian.

Robust and intelligent control of a typical underactuated robotmobile wheeled inverted pendulum /[electronic resource] :by Jian Huang, Mengshi Zhang, Toshio Fukuda. - Singapore :Springer Nature Singapore :2023. - x, 117 p. :ill., digital ;24 cm. - Research on intelligent manufacturing,2523-3394. - Research on intelligent manufacturing..

Chapter 1 Introduction -- Chapter 2 Modeling of Mobile Wheeled Inverted Pendulums -- Chapter 3 Disturbance-Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems -- Chapter 4 Sliding Mode Variable Structure Based Chattering Avoidance Control for Mobile Wheeled Inverted Pendulums -- Chapter 5 Interval Type-2 Fuzzy Logic Control of Mobile Wheeled Inverted Pendulums -- Chapter 6 Experiments of Controlling Real Mobile Wheeled Inverted Pendulums -- Chapter 7 Conclusion.

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 engineers in robotics and control. It can also be used as supplementary reading for nonlinear systems theory at the graduate level. The in-depth theory and detailed platform construction provide an excellent convenience for readers to build their platforms and learn the knowledge they need.

ISBN: 9789811971570$q(electronic bk.)

Standard No.: 10.1007/978-981-19-7157-0doiSubjects--Topical Terms:

183135
Intelligent control systems.

LC Class. No.: TJ217.5 / .H83 2023

Dewey Class. No.: 629.892

Robust and intelligent control of a typical underactuated robotmobile wheeled inverted pendulum /
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520 $a 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 engineers in robotics and control. It can also be used as supplementary reading for nonlinear systems theory at the graduate level. The in-depth theory and detailed platform construction provide an excellent convenience for readers to build their platforms and learn the knowledge they need.
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