Conclusion

نویسندگان

چکیده

This book presents the achievements in research of a special underactuated system called mobile wheeled inverted pendulum (MWIP) over recent years. Taking dynamic modeling, control, and simulation as mainline, this first introduces particularity, control challenges, applications MWIP system. The Lagrange function is adopted to model dynamics two-dimensional three-dimensional systems. Based on dynamical characteristics, new design sliding mode controller incorporated with novel high-order disturbance observer introduced. Aiming at overcoming chattering problem appeared traditional several avoidance methods are presented detail. Besides, some intelligent algorithms related interval type-2 fuzzy logic applied All proposed mentioned above verified physical future development robots has been prospected. intended for researchers engineers field robotics control. It can also be used supplementary reading nonlinear systems graduate level. in-depth theory detailed platform construction provide great convenience readers build their own platforms learn knowledge they need.

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ژورنال

عنوان ژورنال: Research on intelligent manufacturing

سال: 2023

ISSN: ['2523-3386', '2523-3394']

DOI: https://doi.org/10.1007/978-981-19-7157-0_7