臺灣博碩士論文加值系統

本篇論文提出一組包括全向四輪(SFWORs)和全向三輪(STWORs)異質多機器人系統的分散式協同型編隊控制方法學與技術，簡單的描述全向三輪與四輪的動力學和運動學模型，異質多機器人編隊控制系統及其機台間所使用的通訊技術。為了達成異質多機器人系統的隊形維持跟協同追蹤，本篇提出了兩種分散式協同編隊控制方法，其中一個方法使用自適應型倒逆步(adaptive backstepping)技術，另一個則使用適應型終端滑模控制(adaptive terminal sliding mode)技術。此外上述的兩種技術都使用即時學習的輸出遞迴類神經模糊小波類神經 (ORFWNNs)。一種防碰撞避障策略被提出，用以達成機器人間與障礙物的避障。最後透過數值分析與異質平台的實驗結果證明所提出方法的有效性與實用性。

This thesis presents methodologies and techniques for distributed consensus-based formation control of a group of networked heterogeneous multiple Swedish wheeled omnidirectional robots(SWORs) system including Swedish three-wheeled omnidirectional robots(STWORs) and Swedish four-wheeled omnidirectional robots (SFWORs) with uncertainties. After describing the kinematic and dynamic models of STWORs and SFWORs, the heterogeneous formation control system with the communication principle is designed and implemented. To achieve formation keeping and consensus tracking, this thesis proposes two distributed consensus formation control methods. One is an intelligent adaptive backstepping technique, and the other is an adaptive terminal sliding mode (TSMC) technique. In addition, both controllers use online learning of output recurrent fuzzy wavelet neural networks (ORFWNNs) which are employed to learn the system uncertainties. Moreover, a collision and obstacle avoidance strategy is proposed to avoid obstacle and collision among robots. Through numerical simulations and the experiment results of platform including SFWORs and STWORs on the built heterogeneous formation control system, the proposed methods have been shown effective in achieving the formation control goals.

誌謝辭..........i
摘 要..........ii
Abstract..........iii
Contents..........iv
List of Figures..........vii
List of Tables..........xi
Nomenclature..........xii
List of Abbreviations..........xiii
Chapter 1 Introduction..........1
1.1 Research Background..........1
1.2 Literature Review..........2
1.2.1 Related Work on Cooperation Consensus Formation Control..........2
1.2.2 Related Work on Heterogeneous Swedish Omnidirectional Robots..........3
1.2.3 Related Work on ORFWNN..........3
1.2.4 Related Work on Backstepping Control....................4
1.2.5 Related Work on Terminal Sliding Mode Control....................4
1.3 Motivation and Objectives....................5
1.4 Main Contributions....................5
1.5 Thesis Organization....................6
Chapter 2 Formation System Design and Implementation 8
2.1 Introduction..........8
2.2 Distributed Consensus Formation System Structure..........9
2.2.1 Diagram of Heterogeneous Multi-SWOR Formation System..........9
2.2.2 Diagram of each Heterogeneous SWOR in Formation..........9
2.3 Description of the Experimental SFWOR and STWOR in Formation..........11
2.3.1 Basic Structure of SFWOR and STWOR..........11
2.3.2 ARM-based Controller..........13
2.3.3 Single-Board Computer..........15
2.3.4 Dynamixel MX-64AR Robot Actuator..........16
2.3.5. Odometry..........18
2.3.6 Omnidirectional Wheels..........20
2.3.7 The Wi-Fi communication program..........20
2.4 Modeling a Heterogeneous Multi-SWOR System..........21
2.5 Problem Formulations..........21
2.6 Kinematic Formation Control..........23
2.6.1 Kinematic model and control of the ith SWOR..........23
2.7 Experimental Results and Discussion..........26
2.7.1 Experimental Results of Odometry..........26
2.7.2 Experimental Results of the Kinematic Formation Control..........33
2.8 Concluding Remarks..........38
Chapter 3 Intelligent Adaptive Backstepping Distributed Consensus Formation Control Using ORFWNN..........39
3.1 Introduction..........39
3.2 Unified Dynamic Model of the Heterogeneous SWOR..........39
3.2.1 Modeling a SFWOR in the World Frame..........39
3.2.2 Modeling a STWOR in the World Frame..........41
3.2.3 Modeling any SWOR in the World Frame..........42
3.3 ORFWNN Function Approximation..........43
3.4 Intelligent Adaptive Backstepping Distributed Consensus Formation Control..........45
3.5 The Strategy of Collision and Obstacle Avoidance..........49
3.5.1 Collision and Obstacle Avoidance..........50
3.5.2 Stability Analysis of the Formation Control Law with Collision and Obstacle Avoidance..........51
3.6 Simulation Results and Discussion..........52
3.7 Experimental Results and Discussion..........57
3.8 Concluding Remarks..........66
Chapter 4 Intelligent Terminal Sliding-Mode Formation Control Using ORFWNN..........68
4.1 Introduction..........68
4.2 Unified Dynamic Model of the Heterogeneous SWOR..........68
4.3 Intelligent TSMC Formation Control Using ORFWNN..........69
4.4 Simulation Results and Discussion..........74
4.5 Experimental Results and Discussion..........80
4.6 Concluding Remarks..........89
Chapter 5 Conclusions and Recommendations..........90
5.1 Conclusions..........90
5.2 Future Work..........91
References..........93

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