Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/1687
標題: 全向四輪機器人之動力學建模與適應控制設計
Modeling and Adaptive Control for an Omni-Directional Four-Mecanum-Wheeled Robot
作者: 史皓尹
Shih, Hao-Yin
關鍵字: Lyapunov stable theory;Lyapunov穩定理論;Modeling;Backstepping adaptive contrl;建模;反向步進適應控制
出版社: 機械工程學系所
引用: [1] JARA, http://www.jara-npo.org/ [2] 盧嘉泓,陳延暐,"Mecanum Wheel全向輪平台簡介," 元智大學老人福祉 科技研究中心,2010. [3]R. Rojas, "A short history of omnidirectional wheels, " http://robocup.mi.fu-berlin.de/buch/shortomni.pdf [4] Wikipedia, http://en.wikipedia.org/wiki/Mecanum_wheel [5] N. Ould-Khessal, "Design and Implementation of a Robot Soccer Team Based on Omni-directional Wheels," in 2nd Canadian Conf. on Computer and Robot Vision, pp. 544-549, 2005. [6] O. Diegel, A. Badve, G. Bright, J. Potgieter, and S. Tlale, "Improved Mecanum Wheel Design for Omni-directional Robots," in Proc. 2002 Australasian Conf. on Robotics and Automation, Auckland, pp. 117-121, 2002. [7] N. Tlale, and M. de Villiers, "Kinematics and Dynamics Modelling of a Mecanum Wheeled Mobile Platform," in 15th Int. Conf. on Mechatronics and Machine Vision in Practice, pp. 657-662, 2008. [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," in IEEE Int. Conf. on Robotics and Automation, Nagoya, Aichi, Japan, pp. 1925-1930, 1995. [9] R. Balakrishna and A. Ghosal, "Modeling of Slip for Wheeled Mobile Robots," IEEE Trans. on Robotics and Automation, Vol. 11, No. 1, pp. 126-132, 1995. [10] 莊仁豪, "全向式三輪機器人之動力學模式與適應控制設計," 國立中興大學機械工程學系,碩士論文,2007. [11] 陳陞佑, "使用主從微控制器之全向輪機器人實現, " 國立中興大學機械工程學系,碩士論文,2010. [12] J. Salih, M. Rizon, S. Yaacob, A. Adom, M. Mamat, "Designing Omni-Directional Mobile Robot with Mecanum Wheel," American Journal of Applied Sciences, vol.3, No.5, pp. 1831-1835, 2006.
摘要: 
本論文針對使用四個Mecanum輪之全向機器人,由全向輪的滾動、滑動限制條件,推導其運動學模式,再利用 Lagrange方程式推導其動力學模式。考慮系統不確定項,使用反向步進(backstepping)法,依Lyapunov穩定理論推導非線性穩定適應控制律,引入非線性阻尼項及參數估測器,以補償系統之不確定性和近似誤差所造成的影響。最後,為瞭解所設計之控制策略性能,使用三階軟楔內插法規劃機器人運動之期望軌跡,再以Matlab程式模擬驗證所提控制律,確能讓機器人達到對隨意軌跡追蹤控制之目的。

In this thesis, an omni-directional wheeled robot with four Mecanum wheels is considered. Based on the rolling and sliding constraints of the omni-directional wheels, the kinematics model of the robot is first derived, and then its complete dynamics model is derived using Lagrange's equations. Considering the mass and friction uncertainty, the backstepping method is used to derive a nonlinear stable adaptive control law based on Lyapunov stability theory. In order to compensate for the model uncertainty, a nonlinear damping term is included in the control law, and the parameters update law with -modification is considered for the uncertainty estimation. Finally, computer simulations are used to investigate the control performances using desired trajectories obtained by the cubic spline interpolation.
URI: http://hdl.handle.net/11455/1687
其他識別: U0005-2407201116285200
Appears in Collections:機械工程學系所

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