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研究生:莊仁豪
研究生(外文):Jen-Hau Chuang
論文名稱:全向式三輪機器人之動力學模式與適應控制設計
論文名稱(外文):Modeling and Adaptive Control for an Omni-Directional Wheeled Robot
指導教授:林麗章
學位類別:碩士
校院名稱:國立中興大學
系所名稱:機械工程學系所
學門:工程學門
學類:機械工程學類
論文種類:學術論文
論文出版年:2008
畢業學年度:96
語文別:中文
論文頁數:140
中文關鍵詞:全向輪適應控制三階軟楔法
外文關鍵詞:omni-directonal wheeladaptive controlcubic spline interpolation
相關次數:
  • 被引用被引用:15
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本論文針對全向式移動機器人先推導其運動學模式,再利用Lagrange方程式推導其動力學模式。控制器設計時,考慮引入非線性阻尼項及模糊函數近似器以補償系統不確定性的影響。於選擇適當的Lyapunov候選函數後,利用Lyapunov穩定理論,推導機器人的穩定控制律及其含sigma修正項之參數調適律。為了瞭解所提控制策略之性能,最後並以電腦模擬印證所提控制律確能讓機器人達到隨意軌跡追蹤控制之目的。電腦模擬時所用之期望軌跡,乃以三階段軟楔法規劃而得。
In this thesis, we consider the modeling and control design for an omni-directional wheeled robot. First, we derive the kinematics model of the robot, and use Lagrange’s equations to derive the robot’s dynamics model. Then, by considering a nonlinear damping term and a fuzzy function approximator to compensate for the effects of model uncertainty and choosing an appropriate Lyapunov function candidate, a stable adaptive fuzzy controller and its parameter adaptation law with sigma-modification are derived via Lyapunov stability theory. The proposed control strategy has arbitrary trajectory following capability of simultaneous translation and rotation control for an omni-directional wheeled robot. Finally, some computer simulations are used to illustrate the effectiveness of the suggested control strategy using desired trajectories obtained by cubic spline interpolation.
摘 要................................................I
Abstract..............................................II
誌 謝................................................III
目 錄................................................IV
圖 目 錄............................................VII
表 目 錄............................................XII
符號說明..............................................XIII
第一章 緒 論..........................................1
1.1研究動機...........................................1
1.2文獻回顧...........................................2
1.3論文大綱...........................................3
第二章 全向輪機器人數學模式推導.......................5
2.1全向輪數學模式推導.................................6
2.1.1 世界座標(global reference frame)與機器人座標(robot local reference frame)轉動矩陣(rotation matrix)的推導.6
2.1.2 輪子的滾動和滑動條件............................8
2.1.3 全向輪的運動學模式推導..........................12
2.2全向輪機器人動力學模式推導.........................14
第三章 全向輪機器人適應控制器設計.....................33
3.1 定義系統模式不確定性(model uncertainty)...........33
3.2機器人適應控制策略設計.............................37
3.2.1 系統公稱模式之控制律推導........................37
3.2.2 考慮不確定性影響之非線性阻尼項推導..............40
3.2.3 考慮不確定性影響之控制律穩定性證明..............42
3.3 不確定項函數近似器之建模..........................48
3.3.1 nu_delta之選定..................................48
3.3.2不確定項補償之模糊函數近似器結構選定.............51
3.3.3 模擬驗證........................................54
第四章 電腦模擬結果與討論.............................58
4.1 期望軌跡規劃及探討................................58
4.1.1 三階軟楔法(cubic spline interpolation)原理及類別
推導............................................58
4.1.2 期望軌跡之選定..................................65
4.2 全向輪機器人參數之選定............................75
4.3 反向步進法公稱控制律之電腦模擬結果與討論..........75
4.3.1控制器參數與系統不確定性的選定...................75
4.3.2 模擬結果與討論..................................76
4.4含非線性阻尼項、模糊近似器及sigma修正補償之模擬結果
與討論.............................................93
4.4.1 系統與控制器參數的選定..........................93
4.4.2 模擬結果與討論..................................94
第五章 結論與建議.....................................132
參考文獻..............................................134
附錄A 參數選定之推導.................................136
作者簡歷..............................................140
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[8] H. Asama, M. Sato, L. Bogoni, H. Kaetsu, A. Matsumoto, and I. Endo, “Development of an Omni-Directional Mobile Robot with 3 DOF Decoupling Drive Mechanism,” IEEE Int. Conf. on Robotics and Automation (ICRA), Nagoya, Aichi, Japan, pp. 1925-1930, May 1995.
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[10] J. Larminie and J. Lowry, Electric Vehicle Technology Explained, John Wiley, 2003.
[11] L. A. Zadeh, “Fuzzy Sets,” Information and Control, Vol. 8, pp. 338-353, 1965.
[12] L.-X. Wang, A Course in Fuzzy Systems and Control, Prentice Hall, 1997.
[13] S. McKinley and M. Levine, Cubic Spline Interpolation,
http://online.redwoods.cc.ca.us/instruct/darnold/laproj/Fall98/SkyMeg/Proj.PDF.
[14] 高琦凱, “雙足機器人的設計製作與步態規劃及嵌入式單軸伺服控制器實作,” 國立中興大學機械工程學系碩士論文, 2007.
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