典型欠驅動機器人的魯棒智能控制-Robust and Intelligent Control of a Typical
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物品所在地：中國大陸
原出版社：華中科技大學
物品所在地：中國大陸
原出版社：華中科技大學
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| *完成訂單後正常情形下約兩周可抵台。 *本賣場提供之資訊僅供參考，以到貨標的為正確資訊。 印行年月：202309*若逾兩年請先於私訊洽詢存貨情況，謝謝。 台灣(台北市)在地出版社，每筆交易均開具統一發票，祝您中獎最高1000萬元。 書名：典型欠驅動機器人的魯棒智能控制-Robust and Intelligent Control of a Typical Underactuated Robot-英文 ISBN：9787577200248 出版社：華中科技大學 著編譯者：黃劍 張夢詩 福田敏男 叢書名：智能製造與機器人理論及技術研究叢書 頁數：190 所在地：中國大陸 *此為代購商品 書號：1589687 可大量預訂，請先連絡。 【台灣高等教育出版社簡體書】 典型欠驅動機器人的魯棒智能控制-Robust and Intelligent Control of a Typical Underactuated Robot-英文 787577200248 黃劍 張夢詩 福田敏男 內容簡介 本書介紹了作者的團隊近年來在研究一種特殊的欠驅動系統稱為移動輪式倒立擺（MWIP）方面的成就。本書理論和實踐的結合，幾乎所有的演算法都在真實的MWIP系統上得以驗證。本文以動態建模、控制和模擬為主線，首先介紹了MWIP系統的特殊性、控制挑戰和應用。然後，採用拉格朗日函數對二維和三維MWIP系統進行動力學建模，設計了一種新的高階擾動觀測器，並提出了一種將高階擾動觀測器與一種新的滑模流形設計相結合的控制策略。此外，詳細提出了克服傳統滑模控制顫振問題的幾種方法。作者簡介 黃劍is graduated in automatic control from the Huazhong Universityof 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 controlscience and engineering from Huazhong University of Science and Technology in2000 and 2005， respectively From 2006 to 2008， he was Postdoctoral Researcher atthe Department of Micro-Nano System Engineering and the Department ofMechano-Informatics and Systems， Nagoya University， Japan He is currently FullProfessor with the School of Artificial Intelligence and Automation， HuazhongUniversity of Science and Technology His main research interests includerehabilitation robot， robotic assembly， networked control systems， andbioinformatics目錄 1 Introduction1 1 An Overview of MWIP Robots 1 2 Control Methods of the MWIP System 1 3 Outline of Book References 2 Modeling of Mobile Wheeled Inverted Pendulums 2 1 Introduction 2 2 Two-Dimensional Dynamic Model 2 3 Three-Dimensional Dynamic Model 2 4 Dynamic Model with Uncertainties 2 5 Physical Design of the MWIP Robot 2 5 1 Sensing System of the MWIP 2 5 2 Servo Motor Control System of the MWIP 2 6 Conclusion 3 Disturbance Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems 3 1 Introduction 3 2 First-Order Disturbance Observer 3 3 Second-Order Disturbance Observer 3 4 High-Order Disturbance Observer 3 5 High-Order Disturbance Observer-Based Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems 3 6 Simulation Studies 3 6 1 Disturbance Observers 3 6 2 High-Order Disturbance Observer-Based Sliding Mode Control 3 7 Conclusion References 4 Sliding Mode Variable Structure-Based Chattering Avoidance Control for Mobile Wheeled Inverted Pendulums 4 1 Introduction 4 2 Adaptive Super-Twisting Control for Mobile Wheeled Inverted Pendulum Systems 4 3 Terminal Sliding Mode Control for Mobile Wheeled Inverted Pendulum Systems 4 3 1 TSMC Controller Design 4 3 2 Analysis of Velocity Convergence 4 4 Simulation Studies 4 4 1 Adaptive Super-Twisting Control 4 4 2 Terminal Sliding Mode Control 4 5 Conclusion References 5 Interval Type-2 Fuzzy Logic Control of Mobile Wheeled Inverted Pendulums 5 1 Introduction 5 2 Interval Type-2 Fuzzy Logic Modeling and Control of a Mobile Two-Wheeled Inverted Pendulum 5 3 IT2 FLSs for Controlling the Balance， Position， and Direction of the MWIP 5 3 1 Balance Control 5 3 2 Position and Direction Control 5 4 Simulation Studies 5 5 Discussions 5 5 1 Robustness of the IT2 FLS 5 5 2 Stability of the IT2 FLS 5 6 Conclusion References 6 Experiments of Controlling Real Mobile Wheeled Inverted Pendulums 6 1 Experimental Setup 6 2 Experimental Results 6 2 1 Experimental Results of High-Order Disturbance Observer-Based Sliding Mode Control 6 2 2 Experimental Results of Adaptive Super-Twisting Control 6 2 3 Experimental Results of Interval Type-2 Fuzzy Logic Control 6 3 Conclusion Conelusion 詳細資料或其他書籍請至台灣高等教育出版社查詢，查後請於PChome商店街私訊告知ISBN或書號，我們即儘速上架。 |
