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.
表中的内容
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.
关于作者
Jian Huang is graduated in automatic control from the Huazhong University of Science and Technology (HUST), Wuhan, China, in 1997, and received the M.E. degree in control theory and control engineering and the Ph.D. degree in control science and engineering from Huazhong University of Science and Technology in 2000 and 2005, respectively. From 2006 to 2008, he was Postdoctoral Researcher at the Department of Micro Nano System Engineering and the Department of Mechano-Informatics and Systems, Nagoya University, Japan. He is currently Full Professor with the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology. His main research interests include rehabilitation robot, robotic assembly, networked control systems, and bioinformatics.
Mengshi Zhang was born in Hubei Province, China, in 1995. She received the B.S. degree in automation from South-Central University for Nationalities, Wuhan, China, in 2017. She is currently working toward the Ph.D. degree in control science and engineering with the School of Artificial Intelligence and Automation, Huazhong University of Science and Technology. Her current research interests include modeling and controlling mobile robot and underactuated systems.
Toshio Fukuda (Life Fellow, IEEE) received the B.S. degree from Waseda University, Tokyo, Japan, in 1971, and the M.S. and Ph.D. degrees from the University of Tokyo, Tokyo, in 1973 and 1977, respectively, all in mechanical engineering. From 1977 to 1982, he was with the National Mechanical Engineering Laboratory, Tsukuba, Japan. From 1982 to 1989, he was with the Science University of Tokyo. He was Professor at the Department of Micro System Engineering, Nagoya University, Nagoya, Japan, from 1989 to 2013. He is currently Professor at Meijo University, Nagoya, and Professor at the Beijing Institute of Technology, Beijing, China, mainly involved in the research fields of intelligent robotic systems, cellular robotic systems, mechatronics, and micro/nanorobotics.
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