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研究生:李昀達
研究生(外文):Yun-Ta LEE
論文名稱:應用階層可變結構控制於具有時變地形的全向移動機器人之軌跡追踪
論文名稱(外文):Trajectory Tracking of an Autonomous Omnidirectional Mobile Robot with Time-Varying Terrain Conditions Using Stratified Variable Structure Control
指導教授:黃志良黃志良引用關係
指導教授(外文):Chih-Lyang Hwang
口試委員:施慶隆游文雄許駿飛
口試委員(外文):Ching-Long ShihWen-Shyong YuChun-Fei Hsu
口試日期:2017-10-11
學位類別:碩士
校院名稱:國立臺灣科技大學
系所名稱:電機工程系
學門:工程學門
學類:電資工程學類
論文種類:學術論文
論文出版年:2017
畢業學年度:106
語文別:中文
論文頁數:44
中文關鍵詞:全向移動機器人可變結構追踪控制軟硬體共同平台Lyapunov穩定性理論
外文關鍵詞:Omnidirectional mobile robotStratified variable structure controlSoftware/hardware based platformLyapunov stability theory
相關次數:
  • 被引用被引用:0
  • 點閱點閱:274
  • 評分評分:
  • 下載下載:5
  • 收藏至我的研究室書目清單書目收藏:1
首先推導具有三個分圓圓輪的全向移動機器人(ODMR)的階層式架構之數學模型,其包含運動學、機械動態系統和直流馬達態系統。為了獲得更有效的軌跡追蹤,由具有ODMR的線性動態姿態誤差組成的第一個滑動曲面設計參考虛擬的輸入(VRI) (即參考馬達電流(RMC))。為了使直接輸出(即馬達電流)漸近地追踪RMC,由具有線性動態電流追踪誤差的第二滑動曲面設計可變結構追踪控制(VSTC)。總結,所提出的階層可變結構控制(SVSC)包含參考馬達電流(RMC)和可變結構追踪控制(VSTC)所提供的馬達輸入電壓。並以Lyapunov穩定性理論證明整個閉迴路系統的穩定性。接著,以電腦模擬確定所建議的SVSC對時變地形和不確定性具有滿意的結果。最後,以位於參考軌跡上的踏墊代表時變地形條件,進行相關實驗,亦比較有無踏墊的實驗結果驗證所建議的SVSC的有效性、強健性及實用性。
The trajectory tracking model of a new developed omnidirectional mobile robot (ODMR) with three dividing circle wheels is first derived and includes kinematics with respect to the mass center, mechanical subsystem, and electrical subsystem. For tracking the reference pose of ODMR, the reference motor current (RMC) is designed by the first switching surface with the linear dynamic pose error of the ODMR. To make the direct output (i.e., the motor current) asymptotically track the RMC, a variable structure tracking control (VSTC) is designed by the 2nd switching surface with the linear dynamic current tracking error. In summary, the proposed stratified variable structure control contains the reference motor current and the input motor voltage provided by the VSTC. The satisfactory simulation results for time-varying terrain conditions and uncertainties by the proposed SVSC are first confirmed. To represent the time- varying terrain conditions in the experiment, two mats on the reference trajectory are also employed to compare.
中文摘要i
英文摘要ii
目錄iii
圖目錄v
表目錄vii
第一章緒論1
第二章相關文獻3
第三章數學模型與問題描述4
3.1數學模型4
3.2問題描述10
第四章階層可變結構追踪控制12
4.1參考馬達電流12
4.2可變結構追蹤控制14
4.3SVSC演算法17
第五章模擬18
第六章實驗結果與討論25
6.1實驗建構25
6.2實驗結果29
I.SVSC的雙圓形軌跡追蹤實驗39
II.SVSC的雙圓形軌跡追蹤實驗(置放踏墊)32
III.SVSC的雙圓形軌跡追蹤實驗(不同姿態)35
6.3結果與討論38
第七章結論與未來研究39
參考文獻40
附錄42
附錄A(引理一證明):42
附錄B(定理一證明):43
附錄C(定理二證明):43
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