В книге исследуются несколько подходов к задаче управления
движением одноколесного робота.
Authors
Yangsheng Xu, Yongsheng Ou
Chinese University of Hong Kong
Department of Automation and Computer-Aided Engineering
Shatin
Hong Kong SAR, P.R. China
Springer Tracts in Advanced Robotics, Volume 20, 2005.
Содержание:
1 Introduction
1.1 Background
1.2 Design
2 Kinematics and Dynamics
2.1 Modeling in a Horizontal Plane
2.2 Modeling on an Incline
3 Model-based Control
3.1 Linearized Model
3.2 Nonlinear Model
3.3 Control Implementation
4 Leaing-based Control
4.1 Leaing by CNN (Cascade Neural Network)
4.2 Leaing by SVM (Support Vector Machines)
4.3 Leaing Control with Limited Training Data
5 Further Topics on Leaing-based Control
5.1 Input Selection for Leaing Human Control Strategy
5.2 Implementation of Leaing Control
6 Shared Control
6.1 Control Diagram
6.2 Schemes
6.3 Shared Control of Gyrover
6.4 How to Share
6.5 Experimental Study
6.6 Discussions
7 Conclusions
7.1 Concluding Remarks
7.2 Future Research Directions
Authors
Yangsheng Xu, Yongsheng Ou
Chinese University of Hong Kong
Department of Automation and Computer-Aided Engineering
Shatin
Hong Kong SAR, P.R. China
Springer Tracts in Advanced Robotics, Volume 20, 2005.
Содержание:
1 Introduction
1.1 Background
1.2 Design
2 Kinematics and Dynamics
2.1 Modeling in a Horizontal Plane
2.2 Modeling on an Incline
3 Model-based Control
3.1 Linearized Model
3.2 Nonlinear Model
3.3 Control Implementation
4 Leaing-based Control
4.1 Leaing by CNN (Cascade Neural Network)
4.2 Leaing by SVM (Support Vector Machines)
4.3 Leaing Control with Limited Training Data
5 Further Topics on Leaing-based Control
5.1 Input Selection for Leaing Human Control Strategy
5.2 Implementation of Leaing Control
6 Shared Control
6.1 Control Diagram
6.2 Schemes
6.3 Shared Control of Gyrover
6.4 How to Share
6.5 Experimental Study
6.6 Discussions
7 Conclusions
7.1 Concluding Remarks
7.2 Future Research Directions