Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/91212
標題: 兩種類型電動獨輪車之智慧自適應運動控制
Intelligent Adaptive Motion Control for Two Types of Electric Unicycles
作者: 李易餘
Yi-Yu Li
關鍵字: 自適應控制
倒逆步
順滑模態控制
模糊小腦模型控制器
小波模糊小腦模型控制器
adaptive control
backstepping
sliding mode control
fuzzy cerebra model articulation controller
wavlet fuzzy cerebra model articulation controller
electric unicycle
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摘要: This dissertation presents techniques and methodologies for system design, mathematical modeling, and intelligent adaptive motion control for two types of electric unicycles. A mechatronic method is used to accomplish system design, key components and control architecture of two types of experimental electric unicycles. Mathematic models of the vehicles are established by using Lagrangian mechanics and taking into account different riders and terrain surfaces. For the purpose of achieving self-balancing and speed control goals, we propose four types of controllers: linear quadratic regulator (LQR) control, nonlinear adaptive steering control with fuzzy cerebra model articulation controller (CMAC), adaptive steering control with wavelet fuzzy CMAC (WFCMAC), and direct adaptive WFCMAC control. The asymptotic stabilities of the proposed four controllers are proven by Lyapunov stability theory and Barbara lemma. The effectiveness and merits of the proposed controllers are well exemplified by conducting computer simulations on experimental electric unicycles. Comparative studies via simulations also show that the proposed controllers outperform other existing controllers. Many riding experiments are carried out to demonstrate the performance and applicability of the proposed controllers together with both types of laboratory-built experimental electric unicycles.
本學位論文提出兩種類型電動獨輪車之系統設計、數學模型推導及智慧自適應運動控制的技術與方法。首先以機電整合方法來完成兩種類型電動獨輪車的系統設計、關鍵元件以和控制架構。在建模方面,使用拉格朗日運動力學並考慮到不同騎乘者和行駛在不同地面的情況,來建立該兩種類型電動獨輪車的動態模型。在控制器設計方面,四種控制器:二次線性調整最佳化近似法、非線性自適應駕駛控制結合模糊小腦模型網路、自適應駕駛控制結合小波小腦模型網路和直接式控制結合小波小腦模型網路,被提出用以達成自平衡與速度控制的目標。四種控制器系統的穩定性藉由李亞普諾夫穩定性定理和芭芭拉引理來驗證。模擬與比較結果用以說明所提四種控制器的有效性與優點。兩種電動獨輪車的實驗騎乘結果驗證所提四種控制器之實用性與性能。
URI: http://hdl.handle.net/11455/91212
其他識別: U0005-2811201416194528
文章公開時間: 10000-01-01
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