The Inverted Pendulum In Control Theory And Robotics
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The Inverted Pendulum In Control Theory And Robotics
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Author : Olfa Boubaker
language : en
Publisher: IET
Release Date : 2017-10-24
The Inverted Pendulum In Control Theory And Robotics written by Olfa Boubaker and has been published by IET this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-10-24 with Technology & Engineering categories.
This book provides an overall picture of historical and current trends and developments in nonlinear control theory, based on the simple structure and rich nonlinear model of the inverted pendulum.
Robust And Intelligent Control Of A Typical Underactuated Robot
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Author : Jian Huang
language : en
Publisher: Springer Nature
Release Date : 2023-02-09
Robust And Intelligent Control Of A Typical Underactuated Robot written by Jian Huang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023-02-09 with Technology & Engineering categories.
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.
Advanced Control Of Wheeled Inverted Pendulum Systems
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Author : Zhijun Li
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-07-13
Advanced Control Of Wheeled Inverted Pendulum Systems written by Zhijun Li and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-07-13 with Technology & Engineering categories.
Advanced 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.
Robust And Intelligent Control Of A Typical Underactuated Robot
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Author : 黄剑
language : en
Publisher:
Release Date : 2023
Robust And Intelligent Control Of A Typical Underactuated Robot written by 黄剑 and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2023 with Intelligent control systems categories.
Motion Control Of Underactuated Mechanical Systems
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Author : Javier Moreno-Valenzuela
language : en
Publisher: Springer
Release Date : 2017-07-11
Motion Control Of Underactuated Mechanical Systems written by Javier Moreno-Valenzuela and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2017-07-11 with Technology & Engineering categories.
This volume is the first to present a unified perspective on the control of underactuated mechanical systems. Based on real-time implementation of parameter identification, this book provides a variety of algorithms for the Furuta pendulum and the inertia wheel pendulum, which are two-degrees-of-freedom mechanical systems. Specifically, this work addresses and solves the problem of motion control via trajectory tracking in one joint coordinate while another joint is regulated. Besides, discussions on extensions to higher degrees-of-freedom systems are given. The book, aimed at control engineers as well as graduate students, ranges from the problem of parameter identification of the studied systems to the practical implementation of sophisticated motion control algorithms. Offering real-world solutions to manage the control of underactuated systems, this book provides a concise tutorial on recent breakthroughs in the field, original procedures to achieve bounding of the error trajectories, convergence and gain tuning guidelines.
Control Theory In Biomedical Engineering
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Author : Olfa Boubaker
language : en
Publisher: Academic Press
Release Date : 2020-06-30
Control Theory In Biomedical Engineering written by Olfa Boubaker and has been published by Academic Press this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-06-30 with Science categories.
Control Theory in Biomedical Engineering: Applications in Physiology and Medical Robotics highlights the importance of control theory and feedback control in our lives and explains how this theory is central to future medical developments. Control theory is fundamental for understanding feedback paths in physiological systems (endocrine system, immune system, neurological system) and a concept for building artificial organs. The book is suitable for graduate students and researchers in the control engineering and biomedical engineering fields, and medical students and practitioners seeking to enhance their understanding of physiological processes, medical robotics (legs, hands, knees), and controlling artificial devices (pacemakers, insulin injection devices). Control theory profoundly impacts the everyday lives of a large part of the human population including the disabled and the elderly who use assistive and rehabilitation robots for improving the quality of their lives and increasing their independence. Gives an overview of state-of-the-art control theory in physiology, emphasizing the importance of this theory in the medical field through concrete examples, e.g., endocrine, immune, and neurological systems Takes a comprehensive look at advances in medical robotics and rehabilitation devices and presents case studies focusing on their feedback control Presents the significance of control theory in the pervasiveness of medical robots in surgery, exploration, diagnosis, therapy, and rehabilitation
The Reaction Wheel Pendulum
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Author : Daniel J. Block
language : en
Publisher: Springer Nature
Release Date : 2022-05-31
The Reaction Wheel Pendulum written by Daniel J. Block and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022-05-31 with Computers categories.
This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.
Perspectives In Control
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Author : Dorothee Normand-Cyrot
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Perspectives In Control written by Dorothee Normand-Cyrot and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
Perspectives in Control comprises twenty-one essays by leading experts in the field of control. Most of these were presented as plenary lectures at the colloquium erspectives in Control held at Paris, June 1998, and organised by the GdR-Automatique to mark the occasion of the sixtieth birthday of its founder, Ioan Dori Landau. The book provides a unique opportunity to report the views of the world-renowned authorities on some of the directions in which control disciplines might evolve in various areas at the threshold of the twenty-first century. The variety of essays, which includes advanced methodological contributions and overview tutorials as well as more philosophical reflections, contributes to the richness of the book. Many aspects of the field are discussed , including: - adaptive control; - passivity concepts; - nonlinear control; - system identification; - supervisory control; - diagnosis; - emerging applied fields such as mechatronics, air traffic control, power plants, and educational devices. Many of the pioneering aspects of Professor Landau's work are covered. The book will be of interest to scientists as a guide to challenging research subjects, and of value to applied researchers as a survey of the current state of the art and potential of the field.
Non Linear Control For Underactuated Mechanical Systems
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Author : Isabelle Fantoni
language : en
Publisher: Springer Science & Business Media
Release Date : 2012-12-06
Non Linear Control For Underactuated Mechanical Systems written by Isabelle Fantoni and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2012-12-06 with Technology & Engineering categories.
This book deals with the application of modern control theory to some important underactuated mechanical systems, from the inverted pendulum to the helicopter model. It will help readers gain experience in the modelling of mechanical systems and familiarize with new control methods for non-linear systems.
Zhang Gradient Control
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Author : Yunong Zhang
language : en
Publisher: Springer Nature
Release Date : 2020-11-24
Zhang Gradient Control written by Yunong Zhang and has been published by Springer Nature this book supported file pdf, txt, epub, kindle and other format this book has been release on 2020-11-24 with Technology & Engineering categories.
This book introduces readers to using the simple but effective Zhang-gradient (ZG) method to solve tracking-control problems concerning various nonlinear systems, while also highlighting the applications of the ZG method to tracking control for practical systems, e.g. an inverted-pendulum-on-a-cart (IPC) system and a two-wheeled mobile robot (showing its potential applications). In addition to detailed theoretical analyses of ZG controllers, the book presents a wealth of computer simulations to demonstrate the feasibility and efficacy of the controllers discussed (as well as the method itself). More importantly, the superiority of ZG controllers in overcoming the division-by-zero (DBZ) problem is also illustrated. Given its scope and format, the book is well suited for undergraduate and graduate students, as well as academic and industrial researchers in the fields of neural dynamics/neural networks, nonlinear control, computer mathematics, time-varying problem solving, modeling and simulation, analog hardware, and robotics.