By Zhijun Li
Advanced keep watch over of Wheeled Inverted Pendulum Systems is an orderly presentation of modern 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 watch over layout ideas and trajectory new release for WIPs. a major difficulty is tips to take care of numerous uncertainties linked to the nominal version, WIPs being characterised by way of risky stability and unmodelled dynamics and being topic to time-varying exterior disturbances for which exact versions are not easy to return by.
The e-book is self-contained, delivering the reader with every thing from mathematical preliminaries and the fundamental Lagrange-Euler-based derivation of dynamics equations to numerous complex movement keep an eye on and strength keep an eye on methods in addition to trajectory iteration approach. even though basically meant for researchers in robot keep an eye on, Advanced keep watch over of Wheeled Inverted Pendulum platforms will even be precious studying for graduate scholars learning nonlinear platforms extra generally.
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Additional info for Advanced Control of Wheeled Inverted Pendulum Systems
Example text
10 The 2-norm of C(q, q) ˙ satisfies the inequality C(q, q) ˙ ≤ kc (q) q˙ , where kc (q) = 12 maxq∈Rn nk=1 Ck (q) . For revolute robots, kc is a finite constant since the dependence of Ck (q), k = 1, 2, . . , n, on q appears only in terms of sine and cosine functions of their entries. e. , G(q) ≤ kG(q) , where kG(q) is a scalar function which may be determined for any given WIP. For revolute joints, the bound is a constant independent of q whereas for prismatic joints, the bound may depend on q.
97) Lf h(x) = ⎣ ⎦ . Lf hm (x) With the Lie derivative concept, we now define an observation space Ω0 over Rn as Ω0 = span h(x), Lf h(x), . . 98) In other words, this space is spanned by all up to order (n − 1) Lie derivatives of the output function h(x). Then, we further define an observability distribution, denoted by dΩ0 , which collects “the gradient” vector of every component in Ω0 . 99) With these definitions, we can present the following theorem for testing the observability. 95) is observable if and only if dim(dΩ0 ) = n.
E(p−1) ∈ Ln2 ∩ Ln∞ , and e, e, ˙ . . ,e → 0 as t → ∞, then e → 0. 50 If H (s) is defined as above and p = 2, then, sH (s) is exponentially stable and strictly proper, too. Therefore, r ∈ Ln2 ⇒ e and e˙ ∈ Ln2 ∩ Ln∞ , e¨ ∈ Ln2 , e and e˙ ∈ Ln2 ∩ Ln∞ are continuous and e and e˙ → 0 as t → ∞. In addition, if r → 0 as t → ∞, then e¨ → 0. 116) where QL is an arbitrary symmetric positive-definite matrix. 117) the system is exponentially uniformly stable. 53 A function T : Uo → Rn is called a diffeomorphism if it is smooth, and if its inverse, T −1 exists and is smooth.
