臺灣博碩士論文加值系統

在這篇論文中，探討以網路為基礎的模糊分散式滑動控制於自走車的軌跡追蹤。首先，應用模糊分散式控制於伺服馬達系統；藉由伺服馬達系統的控制結果，調整適合的比例因子(scaling factor)以完成前輪的轉向和後輪驅動的控制。在網路控制系統中，訊號傳遞的延遲取決於網路服務品質，但藉由模糊分散式滑動控制理論的修正，也能達到理想的控制結果。而控制命令訊號藉由無線模組傳送到自走車的微處理機，以執行相關驅動伺服馬達的訊號。本論文所提出的控制器，不需要數學模式，不過必須了解動態系統的極限狀況(例如自走車的動態和網路延遲特性)，然後再選擇適合的比例因子，以達到更傑出的成果。最後，以一些相關實驗，驗證所提出的控制系統的效能及可行性。

In this thesis, the trajectory tracking of a car-like mobile robot (CLMR) via network-based fuzzy decentralized sliding-mode control (NBFDSMC) was developed. First, the fuzzy decentralized sliding-mode control (FDSMC) was achieved for the nominal motor system; the controls of steering angle and linear velocity were obtained through a modification of the scaling factors based on the nominal control of motor systems. Due to the delay transmission of a signal through an internet, a revision of FDSMC (i.e., NBFDSMC) was accomplished according to the Quality-of-Service (QoS). Then the control input was transmitted to the CLMR by a wireless device. The proposed control could track a reference trajectory without the requirement of a mathematical model. Only the information of the upper bound of system knowledge (including the dynamics of CLMR and the delay feature of network) was required to select the suitable scaling factors such that an excellent performance was accomplished. The corresponding experiments were also carried out to evaluate the usefulness of the proposed control system.

ABSTRACT-------------------------------------------------------------------------------------------i
摘要----------------------------------------------------------------------------------------------------ii
Acknowledgment------------------------------------------------------------------------------------iii
CONTENTS------------------------------------------------------------------------------------------iv
LIST OF FIGURES AND TABLES--------------------------------------------------------------vi
CHAPTER 1 INTRODUCTION------------------------------------------------------------------1
CHAPTER 2 SYSTEM DESCRIPTION--------------------------------------------------3
2.1 Network architecture of CLMR--------------------------------------------------3
2.2 Kinematic model of CLMR-------------------------------------------------------5
CHAPTER 3 HARDWARE ARCHITECTURE OF THE CLMR---------------------------7
3.1 DC servo motor---------------------------------------------------------------------7
3.2 Microprocessor---------------------------------------------------------------------8
3.3 Expansion circuit card-------------------------------------------------------------9
3.4 Wireless modem------------------------------------------------------------------13
3.5 Image system----------------------------------------------------------------------13
CHAPTER 4 PROBLEM FORMULATION--------------------------------------------------14
CHAPTER 5 FUZZY DECENTRALIZED SLIDING-MODE CONTROL--------------16
CHAPTER 6 EXPERIMENTAL RESULTS--------------------------------------------------20
6.1 Closed-loop response of the CLMR without load----------------------------20
6.2 Trajectory tracking of the CLMR-----------------------------------------------22
CHAPTER 7 CONCLUSIONS------------------------------------------------------------------23
REFERENCES--------------------------------------------------------------------------------------24

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