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Design and Adaptive Control of a Personal Self-Balancing Two-Wheeled Transporter
|關鍵字:||adaptive control;適應控制;digital signal processing;gyroscope;inverted pendulum;radial basis function;自平衡系統;類神經徑向網路;陀螺儀;數位訊號處理||出版社:||電機工程學系所||引用:||References  http://www.segway.com/  T. Blackwell, ”Building a Balancing Scooter ” http://www.tlb.org/scooter.html  F. Grasser, A.D'Arrigo, and S. Colombi, “JOE: A Mobile, Inverted Pendulum,” IEEE Transactions on Industrial Electronics, vol. 49, no. 1, pp.107-114, February 2002.  F. Grasser, A.D'Arrigo, and S. Colombi, “JOE: A Mobile, Inverted Pendulum,” Proceedings of the IASTED International Conference on Modelling, Identification and Control, Innsbruck, Austria February 19- 22, 2001.  J.-S. Wang, “Walking control of a self-balancing two-wheeled robot,” M.S. Thesis, Department of Electrical Engineering, National Central University, June 2003.  C.-Y. Cheng, Balancing control of a self-balancing two-wheeled robot, M.S. Thesis (in Chinese), Department of Electrical Engineering, National Central University, June 2003.  J.-S. Hu and M.-C. Tsai, “Robust Control of Auto-balancing Two-wheeled Cart”, Proceedings of CACS Automatic Control Conference, November18-19, 2005.  http://www.ai.mit.edu/projects/cardea/index.shtml  Y.-H. Gu, Design and Control of a Personal Self-balancing Two-wheel Scooter, M.S. Thesis (in Chinese), Department of Electrical Engineering, National Chung Hsing University, June 2005.  J. Benge et al., “Constructing a Balancing Vehicle,” HTV Technology Group, March, 2004.  D.-C. Cheng, “Adaptive Motion and Inverted Pendulum Control with RBF Neural Network for a Linear DC Brushless Motor,” M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2005.  Y.-X. Lin, “Balancing Control and Implementation of a Riderless Bicycle,” M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2001.  K. J. Astrom and B. Wittenmark, Adaptive Control, 2nd Ed., Addison Wesley, 1995.  H. K. Khalil, Nonlinear Systems, 3rd Ed., Prentice Hall, 2002.  R. C. Dorf and R. H. Bishop, Modern Control Systems, 9th Ed, Hall, 2001.  http://www.geology.smu.edu/~dpa-www/robo/nbot/  http://www.tedlarson.com/robots/balancingbot.htm  http://www.teamhassenplug.org/robots/legway/  http://homepage.mac.com/sigfpe/Robotics/equibot.html||摘要:||
This thesis develops techniques for system design, modeling and adaptive control of a personal two-wheeled transporter driven by two DC motors. The design attempts to construct a low-cost human transporter using common-tech commercial components. A mechatronic system structure for the vehicle is described and its mathematical modeling incorporating the fiction between the wheels and motion surface is derived. The radial basis function (RBF) neural network is proposed to approximation the friction force. By decomposing the system into two subsystems: the rotation subsystem and inverted pendulum subsystem, we design adaptive control laws and adaptive neural network control laws with state feedback to maintain the inverted pendulum and to achieve the rotation control. Simulation results and experimental results reveal that the proposed controllers are capable of providing appropriate control actions to steer the transporter in desired manners.
|Appears in Collections:||電機工程學系所|
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