臺灣博碩士論文加值系統

本論文研究目的為設計模糊控制器，使用輪型移動機器人進行路徑追蹤的任務。首先，以 Sugeno 形式為理念去設計模糊控制器並與最佳PID控制器作比較，經由追蹤分析討論兩者控制器之差異。接著，針對傳統模糊理論的歸屬函數設計過於保守的問題，使用田口實驗法搜尋來求取最佳控制性能的歸屬函數及控制增益。由輪型移動機器人系統之特性可以推出輪型移動機器人系統之非線性方程式，接著以T-S 模糊模型近似非線性之輪型移動機器人系統，配合李亞普諾夫穩定定理推導線性矩陣不等式，求出回授增益值，而輪型移動機器人系統之非線性的系統用在T-S模糊模型上，卻發現歸屬函數會彼此影響，因此使用T-S模糊區域控制器，消除交錯項在設計上的干擾。上述，皆經由實驗與電腦模擬來比較各方法間之差異及優缺點。

The purpose of the thesis is to design the fuzzy controller for the path tracking of a wheeled mobile robot (WMR). First, the Sugeno-type inference system is applied to design the fuzzy controllers compared with the fine-tuned PID controllers. Second, the Taguchi method is used to seek the best membership functions and gains. By the way, the author derives the nonlinear equations of motion for the wheeled mobile robot systems. The T-S fuzzy model can approximate the nonlinear robot systems. Based on the Lyapunov stability theorem, the author derives the linear matrix inequality (LMI) to obtain feedback gains. Furthermore, the author uses the concept of fuzzy region to reduce the numbers of T-S fuzzy rules and improve the performance of T-S fuzzy controllers. Last, experiments and computer simulations demonstrate the advantages and limitations.

致謝 I
摘要 II
Abstract III
目錄 IV
圖目錄 VI
表目錄 IX
第一章 緒論 1
1.1論文背景 1
1.2文獻回顧 1
1.3內容章節 3
第二章 輪型移動機器人系統之硬體架構 4
2.1i90 機器人系統架構 4
2.2機器人機構介紹 6
2.3感測器元件介紹 11
2.4機器人通訊模式 15
2.5軟體開發架構 16
第三章 輪型移動機器人系統之模糊控制 17
3.1PID控制器 17
3.2模糊邏輯控制器 19
3.2.1 模糊邏輯理論 19
3.2.2 控制器的設計 24
3.3實驗結果 28
3.3.1 人機介面 28
3.3.2 實驗1-1:直線路徑追蹤 28
3.3.3 實驗1-2:追蹤目標 30
第四章 輪型移動機器人系統之田口模糊控制 36
4.1田口實驗法 36
4.1.1實驗設計法 36
4.1.2田口實驗法 37
4.2i90 機器人之田口模糊控制器 42
4.3實驗結果 48
4.3.1人機介面 48
4.3.2實驗：路徑追蹤 48
4.4實驗討論 51
第五章 輪型移動機器人系統之T-S模糊控制 52
5.1輪型移動機器人系統之數學模型 52
5.1.1 運動方程式 52
5.1.2 誤差運動方程式 53
5.2T-S模糊控制 55
5.2.1 T-S模糊模型 55
5.2.2 平行分佈補償和穩定分析 56
5.2.3 輪型移動機器人之T-S模糊模型 58
5.2.4基於LMI之模糊控制器設計 60
5.3T-S模糊區域控制 61
5.3.1模糊區域控制設計 61
5.3.2 模糊區域控制器穩定分析 63
5.3.3 輪型移動機器人之模糊區域控制器 65
5.4電腦模擬 68
第六章 結論 74
參考文獻 75

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