Advanced Control of Wheeled Inverted Pendulum Systems by Zhijun Li

By Zhijun Li

Advanced keep an eye on of Wheeled Inverted Pendulum Systems is an orderly presentation of contemporary principles for overcoming the problems inherent within the keep watch over of wheeled inverted pendulum (WIP) structures, 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 an eye on layout suggestions and trajectory iteration for WIPs. an enormous hindrance is how you can care for a number of uncertainties linked to the nominal version, WIPs being characterised through volatile stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which exact versions are not easy to come back by.

The publication is self-contained, offering the reader with every thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to numerous complicated movement keep an eye on and strength regulate techniques in addition to trajectory new release procedure. even though essentially meant for researchers in robot keep an eye on, Advanced regulate of Wheeled Inverted Pendulum structures will even be worthwhile interpreting for graduate scholars learning nonlinear structures extra generally.

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3 Dynamics of WIP Systems 43 are called virtual displacements, which can be precisely defined as follows with Eq. 24) holding n δri = j =1 ∂ri δqj , ∂qj i = 1, 2, . . 28) where δq1 , δq2 , . . , δqn of the generalized coordinates are unconstrained. 30) i=1 Substituting Eq. 30), the work done by external forces corresponding to any set of virtual displacements is zero. Suppose that each constraint will be in equilibrium and consider the fictitious additional force p˙ i for each constraint with the momentum of the ith constraint pi .

Fn (t)]T be a continuous or piecewise continuous vector function. 31) In some cases, during the period [0, T ], signals are bounded over finite time intervals, but may become infinity as time goes to infinity. 34) sgn(x) = 0, x=0 ⎩ −1, x < 0 The properties of sign function are listed as follows. 35) 20 2 Mathematical Preliminaries whenever x is not equal to 0, from Eq. 36) (2) The signum function is the derivative of the absolute value function (up to the indeterminacy at zero): Note, the resultant power of x is 0, similar to the ordinary derivative of x.

This chapter describes how to model the dynamic properties of chains of interconnected rigid bodies that form a WIP system, how to calculate the chains’ time evolution under a given set of internal and external forces and/or desired motion specifications, and how to provide a means of designing prototype mobile inverted pendulum and testing control approaches without building the actual mobile inverted pendulum. The theoretical principle behind rigid body dynamics is that one extends Newton’s laws for the dynamics of a point mass to rigid bodies.

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