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The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations(Control, Robotics and Sensors)

The Inverted Pendulum in Control Theory and Robotics: From theory to new innovations(Control, Robotics and Sensors)

          
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About the Book

The inverted pendulum is a classic problem in dynamics and control theory and is widely used as a benchmark for testing control algorithms. It is also an area of active study, with many new innovations and applications - for example the problem is solved in the technology of the Segway, a self-balancing transportation device. 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. After an introduction to the system and open/current problems, the book covers the topic in four parts: applications of robust state estimation and control to pendulum-cart systems; controllers for under-actuated mechanical systems; nonlinear controllers for mobile inverted pendulum systems; and robust controllers based observers via Takagi-Sugeno or linear approaches. With contributions from international researchers in the field, The Inverted Pendulum in Control Theory and Robotics is essential reading for researchers, scientists, engineers and students in the field of control theory, robotics and nonlinear systems.

Table of Contents:
Chapter 1: The inverted pendulum: history and survey of open and current problems in control theory and robotics PART I: Robust state estimation and control: application to pendulum-cart systems Chapter 2: State estimation and parameter identification via sliding-mode techniques: pendulum-cart system Chapter 3: Higher order sliding-mode stabilization of inverted cart-pendulum Chapter 4: Stabilization and tracking control of the inverted pendulum on a cart via a modified PSO fractional order PID controller PART II: Controllers for underactuated mechanical systems Chapter 5: Model-free control of the inertia wheel inverted pendulum with real-time experiments Chapter 6: Output feedback second-order sliding-mode tracking control for perturbed inertia wheel pendulum Chapter 7: Switched integral sliding mode control for robust generation of self-oscillation in pendulum systems Chapter 8: Finite-time stabilization of underactuated mechanical systems in the presence of uncertainties: application to the cart-pole system PART III: Nonlinear controllers for mobile inverted pendulum systems Chapter 9: Advances in robust control of mobile wheeled inverted pendulum Chapter 10: Case studies on non-linear control theory of the inverted pendulum Chapter 11: Bipedal-double-pendulum walking robot control using recurrent hybrid neural network PART IV: Robust controllers-based observers via Takagi-Sugeno or linear approaches Chapter 12: A survey on the polytopic Takagi-Sugeno approach: application to the inverted pendulum Chapter 13: Robust fault-tolerant control of nonlinear inverted pendulum and cart system with simultaneous actuator and sensor faults sliding-mode observer Chapter 14: LMI-based control design for balancing and attitude stabilization of inverted pendulums


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Product Details
  • ISBN-13: 9781785613203
  • Publisher: Institution of Engineering and Technology
  • Publisher Imprint: Institution of Engineering and Technology
  • Height: 234 mm
  • No of Pages: 408
  • Series Title: Control, Robotics and Sensors
  • Sub Title: From theory to new innovations
  • Width: 156 mm
  • ISBN-10: 1785613200
  • Publisher Date: 24 Oct 2017
  • Binding: Hardback
  • Language: English
  • Returnable: Y
  • Spine Width: 25 mm
  • Weight: 725 gr


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