Robust and Intelligent Control of a Typical Underactuated Robot: Mobile Wheeled Inverted Pendulum
Huang, Jian, Zhang, Mengshi, Fukuda, Toshio
- 出版商: Springer
- 出版日期: 2024-02-10
- 售價: $5,040
- 貴賓價: 9.5 折 $4,788
- 語言: 英文
- 頁數: 117
- 裝訂: Quality Paper - also called trade paper
- ISBN: 9811971595
- ISBN-13: 9789811971594
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相關分類:
機器人製作 Robots
海外代購書籍(需單獨結帳)
相關主題
商品描述
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.
商品描述(中文翻譯)
本書介紹了作者團隊在研究一種特殊的欠驅動系統——移動輪式倒立擺（MWIP）方面的成就，該系統在近幾年內開發完成。書中重點結合理論與實踐，幾乎所有算法均在真實的MWIP系統上進行驗證。以動態建模、控制和模擬為主線，本書首先介紹了MWIP系統的特點、控制挑戰及其應用。接著，採用拉格朗日函數來建模二維和三維MWIP系統的動態。基於MWIP動態的特殊特性，設計了一種新的高階擾動觀測器，並通過將高階擾動觀測器與新型滑模流形設計相結合，提出了一種控制策略。此外，詳細介紹了幾種克服傳統滑模控制顫振問題的方法。此外，還將一些與區間型2模糊邏輯控制相關的智能算法應用於MWIP系統。最後，對欠驅動機器人的未來發展進行了展望。本書旨在為機器人和控制領域的研究人員和工程師提供參考，也可作為研究生非線性系統理論的補充讀物。深入的理論和詳細的平台建設為讀者搭建自己的平台和學習所需知識提供了極大的便利。
作者簡介
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 MicroNano 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.
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.
作者簡介(中文翻譯)
簡黃於1997年畢業於中國武漢華中科技大學自動控制專業，並於2000年和2005年分別獲得控制理論與控制工程碩士學位及控制科學與工程博士學位。2006年至2008年，他在日本名古屋大學微納系統工程系及機械資訊與系統系擔任博士後研究員。目前，他是華中科技大學人工智慧與自動化學院的正教授。他的主要研究興趣包括復健機器人、機器人組裝、網路控制系統及生物資訊學。
張夢詩於1995年出生於中國湖北省。她於2017年獲得中國武漢民族大學自動化學士學位。目前，她正在華中科技大學人工智慧與自動化學院攻讀控制科學與工程博士學位。她目前的研究興趣包括移動機器人及欠驅動系統的建模與控制。
福田敏男（IEEE 生命會士）於1971年獲得日本東京早稻田大學機械工程學士學位，並於1973年和1977年分別獲得東京大學的碩士及博士學位，皆為機械工程領域。1977年至1982年，他在日本筑波的國立機械工程研究所工作。1982年至1989年，他在東京科學大學任職。1989年至2013年，他擔任日本名古屋大學微系統工程系教授。目前，他是名古屋名城大學的教授及中國北京理工大學的教授，主要從事智能機器人系統、細胞機器人系統、機電一體化及微/納米機器人等研究領域。
