臺灣博碩士論文加值系統

指導教授推薦書 ..................................................................................
口試委員會審定書 ..............................................................................
誌謝 ................................................................................................... iii
摘要 ................................................................................................... iv
Abstract ............................................................................................... v
目錄 ................................................................................................... vi
圖目錄 ............................................................................................. viii
表目錄 ............................................................................................... xi
1. 緒論 ........................................................................................... 1
1.1 動機與目的 ..................................................................... 1
1.2 文獻回顧 ......................................................................... 4
1.3 內容大綱 ......................................................................... 6
2. 一致性與演算法 ....................................................................... 8
2.1 基本圖形理論 ................................................................. 8
2.2 一致性演算法 ............................................................... 11
2.3 差動輪機器人模型 ....................................................... 15
vii
2.3.1 運動學分析 ............................................................ 15
2.3.2 動力學分析 ............................................................ 19
3. 編隊控制器設計 ..................................................................... 23
3.1 分散式動態曲面編隊控制器設計 ............................... 23
3.2 系統穩定性分析 ........................................................... 32
4. 容錯控制設計 ......................................................................... 39
4.1 驅動器錯誤 ................................................................... 39
4.2 分散式適應性容錯控制器設計 ................................... 40
4.3 系統穩定性分析 ........................................................... 43
5. 模擬結果與討論 ..................................................................... 50
5.1 編隊控制模擬驗證 ....................................................... 50
5.2 容錯控制模擬驗證 ....................................................... 62
6. 結論與建議 ............................................................................. 81
6.1 結論 ............................................................................... 81
6.2 建議 ............................................................................... 81
參考文獻 .......................................................................................... 83

圖 2.1 有向圖 ............................................................................................ 9
圖 2.2 無向圖 ............................................................................................ 9
圖 2.3 有向生成樹 .................................................................................. 10
圖 2.4 差動輪移動式機器人模型 .......................................................... 16
圖 5.1 機器人間通訊拓樸 ...................................................................... 51
圖 5.2 FOCA 編隊控制響應(模擬場景一)： 編隊軌跡 ...................... 56
圖 5.3 FOCA 編隊控制響應(模擬場景一)：編隊誤差 ........................ 56
圖 5.4 DDSFC 編隊控制響應(模擬場景一)：編隊軌跡 ..................... 57
圖 5.5 DDSFC 編隊控制響應(模擬場景一)：編隊誤差 ..................... 57
圖 5.6 FOCA 編隊控制響應(模擬場景二)：編隊軌跡 ........................ 58
圖 5.7 FOCA 編隊控制響應(模擬場景二)：編隊誤差 ........................ 58
圖 5.8 DDSFC 編隊控制響應(模擬場景二)：編隊軌跡 ..................... 59
圖 5.9 DDSFC 編隊控制響應(模擬場景二)：編隊誤差 ..................... 59
圖 5.10 FOCA 編隊控制響應(模擬場景三)：編隊軌跡 ...................... 60
圖 5.11 FOCA 編隊控制響應(模擬場景三)：編隊誤差 ...................... 60
圖 5.12 DDSFC 編隊控制響應(模擬場景三)：編隊軌跡 ................... 61
圖 5.13 DDSFC 編隊控制響應(模擬場景三)：編隊誤差 ................... 61
圖 5.14 FOCA 容錯控制響應(模擬場景四)：編隊軌跡 ...................... 66
圖 5.15 FOCA 容錯控制響應(模擬場景四)：編隊誤差 ...................... 66
圖 5.16 DDSFC 容錯控制響應(模擬場景四)：編隊軌跡 ................... 67
圖 5.17 DDSFC 容錯控制響應(模擬場景四)：編隊誤差 .................. 67
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圖 5.18 DADSFC 容錯控制響應(模擬場景四)：編隊軌跡................. 68
圖 5.19 DADSFC 容錯控制響應(模擬場景四)：編隊誤差................. 68
圖 5.20 DDSFC 容錯控制響應(模擬場景四)：輸入力矩 ................... 69
圖 5.21 DADSFC 容錯控制響應(模擬場景四)：輸入力矩................. 69
圖 5.22 DADSFC 容錯控制響應(模擬場景四)：輸入補償力矩 ........ 70
圖 5.23 DADSFC 容錯控制響應(模擬場景四)：效力因子估測值 .... 70
圖 5.24 FOCA 容錯控制響應(模擬場景五)：編隊軌跡 ...................... 71
圖 5.25 FOCA 容錯控制響應(模擬場景五)：編隊誤差 ...................... 71
圖 5.26 DDSFC 容錯控制響應(模擬場景五)：編隊軌跡 ................... 72
圖 5.27 DDSFC 容錯控制響應(模擬場景五)：編隊誤差 ................... 72
圖 5.28 DADSFC 容錯控制響應(模擬場景五)：編隊軌跡................. 73
圖 5.29 DADSFC 容錯控制響應(模擬場景五)：編隊誤差................. 73
圖 5.30 DDSFC 容錯控制響應(模擬場景五)：輸入力矩 ................... 74
圖 5.31 DADSFC 容錯控制響應(模擬場景五)：輸入力矩................. 74
圖 5.32 DADSFC 容錯控制響應(模擬場景五)：輸入補償力矩 ........ 75
圖 5.33 DADSFC 容錯控制響應(模擬場景五)：效力因子估測值 .... 75
圖 5.34 FOCA 容錯控制響應(模擬場景六)：編隊控制 ...................... 76
圖 5.35 FOCA 容錯控制響應(模擬場景六)：編隊誤差 ...................... 76
圖 5.36 DDSFC 容錯控制響應(模擬場景六)：編隊軌跡 ................... 77
圖 5.37 DDSFC 容錯控制響應(模擬場景六)：編隊誤差 ................... 77
圖 5.38 DADSFC 容錯控制響應(模擬場景六)：編隊軌跡................. 78
圖 5.39 DADSFC 容錯控制響應(模擬場景六)：編隊誤差................. 78
圖 5.40 DDSFC 容錯控制響應(模擬場景六)；輸入力矩 ................... 79
x
圖 5.41 DADSFC 容錯控制響應(模擬場景六)：輸入力矩................. 79
圖 5.42 DADSFC 容錯控制響應(模擬場景六)：輸入補償力矩 ........ 80
圖 5.43 DADSFC 容錯控制響應(模擬場景六)：效力因子估測值 .... 80

表 5.1 機器人系統參數 .......................................................................... 51
表 5.2 模擬場景一之性能指標 .............................................................. 55
表 5.3 模擬場景二之性能指標 .............................................................. 55
表 5.4 模擬場景三之性能指標 .............................................................. 55
表 5.5 模擬場景四之性能指標 .............................................................. 65
表 5.6 模擬場景五之性能指標 .............................................................. 65
表 5.7 模擬場景六之性能指標 .............................................................. 65

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