東華大學圖書館 |

語系: 繁體中文

說明(常見問題)

回圖書館首頁

手機版館藏查詢

登入

回首頁

切換: 標籤 | MARC模式 | ISBD

Robust and intelligent control of a ...

Huang, Jian.

FindBook

Google Book

Amazon

博客來

Robust and intelligent control of a typical underactuated robot = mobile wheeled inverted pendulum /

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Robust and intelligent control of a typical underactuated robot/ by Jian Huang, Mengshi Zhang, Toshio Fukuda.
其他題名:	mobile wheeled inverted pendulum /
作者:	Huang, Jian.
其他作者:	Zhang, Mengshi.
出版者:	Singapore :Springer Nature Singapore : : 2023.,
面頁冊數:	x, 117 p. :ill., digital ;24 cm.
內容註:	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.
Contained By:	Springer Nature eBook
標題:	Intelligent control systems. -
電子資源:	https://doi.org/10.1007/978-981-19-7157-0
ISBN:	9789811971570

Robust and intelligent control of a typical underactuated robot = mobile 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

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

546464
Intelligent control systems.

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

Dewey Class. No.: 629.892

Robust and intelligent control of a typical underactuated robot = mobile wheeled inverted pendulum /
LDR:03124nmm a2200337 a 4500 001 2316108
003 DE-He213
005 20230209185935.0
006 m d
007 cr nn 008maaau
008 230902s2023 si s 0 eng d
020 $a 9789811971570 $q (electronic bk.)
020 $a 9789811971563 $q (paper)
024 7 $a 10.1007/978-981-19-7157-0 $2 doi
035 $a 978-981-19-7157-0
040 $a GP $c GP
041 0 $a eng
050 4 $a TJ217.5 $b .H83 2023
072 7 $a TJFM1 $2 bicssc
072 7 $a TEC037000 $2 bisacsh
072 7 $a TJFM1 $2 thema
082 0 4 $a 629.892 $2 23
090 $a TJ217.5 $b .H874 2023
100 1 $a Huang, Jian. $3 1271330
245 1 0 $a Robust and intelligent control of a typical underactuated robot $h [electronic resource] : $b mobile wheeled inverted pendulum / $c by Jian Huang, Mengshi Zhang, Toshio Fukuda.
260 $a Singapore : $b Springer Nature Singapore : $b Imprint: Springer, $c 2023.
300 $a x, 117 p. : $b ill., digital ; $c 24 cm.
490 1 $a Research on intelligent manufacturing, $x 2523-3394
505 0 $a 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.
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.
650 0 $a Intelligent control systems. $3 546464
650 0 $a Robots $x Control systems. $3 667305
650 1 4 $a Robotic Engineering. $3 3592865
650 2 4 $a Mechatronics. $3 737861
650 2 4 $a Control and Systems Theory. $3 3381515
650 2 4 $a Robotics. $3 519753
700 1 $a Zhang, Mengshi. $3 3629074
700 1 $a Fukuda, Toshio. $3 1070079
710 2 $a SpringerLink (Online service) $3 836513
773 0 $t Springer Nature eBook
830 0 $a Research on intelligent manufacturing. $3 3308732
856 4 0 $u https://doi.org/10.1007/978-981-19-7157-0
950 $a Intelligent Technologies and Robotics (SpringerNature-42732)