Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/6901
標題: 電動獨輪車之智慧適應運動控制
Intelligent Adaptive Motion Control of an Electric Unicycle
作者: 盧志豪
Lu, Jhih-Hao
關鍵字: Electric Unicycle;電動獨輪車;Unicycle;獨輪車
出版社: 電機工程學系所
引用: [1] Honda Com., 2009 [On-line]. Available http://www. honda.co.jp/news/2009/c090924.html. [2] http://wn.com/Solowheel/ [3] Focus Designs Inc. http://focusdesigns.com/ [4] http://enicycle.com/ [5] J. C. Lo and Y. H. Kuo, “Decoupled Fuzzy Sliding-Mode Control,” IEEE Transactions on fuzzy systems, vol. 6, no. 3, pp. 426-435, August 1998. [6] S. C. Lin, System Design, Modeling and Control of Self-Balancing Human Transportation Vehicles, Ph. D dissertation, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, ROC, July 2008. [7] H. C. Shin, System Design and Control of an Electric Unicycle, M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, ROC, July 2009. [8] C. C. Tsai, S. C. Shih, and S. C. Lin “Adaptive Nonlinear Control Using RBFNN for an Electric Unicycle,” Proceedings of the 2008 IEEE International conference on System, Man and Cybernetics, Singapore, October 12-15, 2008. [9] S. C. Lin, C. C. Tsai, X. Q Shih, and C. H. Lu “Linearized two-loop posture and speed control of an electric unicycle,” Proceedings of the 2010 ICSSE International conference on System Science and Engineering, Singapore, July 1-3, 2010. [10] Z. Sheng, and K. Yamafuji, “Postural stability of a human riding a unicycle and its emulation by a Robot,” IEEE Transactions on Robotics and Automation, vol.13 no.5, pp.709-720, Oct. 1997. [11] K. Hofer, “Observer-based drive-control for self-balanced vehicles” the 32nd IEEE Annual Conference on Industrial Electronics, IECON 2006, pp. 3951 - 3956, 6-10 Nov. 2006. [12] R. Nakajima, T. Tsubouchi, S.Yuta, E. Koyanagi, “A development of a new mechanism of an autonomous unicycle,” Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ''97), vol. 2, pp. 906 - 912, 7-11 Sept. 1997. [13] Y. Ou and Y. Xu, “Balance control of a single wheel robot,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and System, vol.2, pp.2043-2048, 30 Sept.-5 Oct. 2002. [14] J. C. Lo and Y. H. Kuo, “Decoupled Fuzzy Sliding-Mode Control,” IEEE Transactions on fuzzy systems, vol. 6, no. 3, pp. 426-435, August 1998. [15] C. M. Lin and Y. J. Mon, “Decoupling Control by Hierarchical Fuzzy Sliding-Mode Controller,” IEEE Transactions on control systems technology, vol. 13, no. 4, pp. 593-598 , July 2005. [16] T. B. Lauwers, G. A. Kantor, and R. L. Hollis, “A dynamically stable single-wheeled mobile robot with inverse mouse-ball drive,” Proceedings of the IEEE International Conference on Robotics and Automation, Orlando, USA, pp. 2884-2889, 2006. [17] C. K. Lin, S. D.Wang, “Robust self-tuning rotated fuzzy basis function controller for robot arms.” Control Theory and Applications, IEE Proceedings, vol.144, no.4, pp.293-298, July 1997. [18] Z. Huaguang, L. Cai, B. Zeungnam , “A fuzzy basis function vector-based multivariable adaptive controller for nonlinear systems.” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 30 no.1, pp.210-217, Feb. 2000. [19] C.K. Lin, “Adaptive critic autopilot design of Bank-to-turn missiles using fuzzy basis function networks,” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 35 no.2, pp.197-207, April 2005. [20] C. C. Tsai, H. C. Huang, S. C. Lin," Adaptive Neural Network Control of a Self-balancing Two-wheeled Scooter," IEEE Transactions on Industrial Electronics, vol. 57, no. 4, April 2010. [21] C. K. Lin, “Adaptive critic autopilot design of Bank-to-turn missiles using fuzzy basis function networks,” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 35 no.2, pp.197-207, April 2005. [22] K. Hofer, “Observer-based drive-control for self-balanced vehicles” the 32nd IEEE Annual Conference on Industrial Electronics, IECON 2006, pp. 3951 - 3956, 6-10 Nov. 2006. [23] R. Nakajima, T. Tsubouchi, S.Yuta, E. Koyanagi, “A development of a new mechanism of an autonomous unicycle,” Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems ( IROS ''97), vol. 2, pp. 906 - 912, 7-11 Sept. 1997. [24] J. C. Lo and Y. H. Kuo, “Decoupled Fuzzy Sliding-Mode Control,” IEEE Transactions on fuzzy systems, vol. 6, no. 3, pp. 426-435, August 1998. [25] C. M. Lin and Y. J. Mon, “Decoupling Control by Hierarchical Fuzzy Sliding-Mode Controller,” IEEE Transactions on control systems technology, vol. 13, no. 4, pp. 593-598 , July 2005. [26] C.C. Tsai and C.H. Lu, "Intelligent Adaptive Backstepping Motion Control of an Electric Unicycle Using Fuzzy Basis Function Networks," in Proceedings of 2011 National Symposium on System science and engineering, Puli, Nanto, Taiwan, June 17-18, 2011.
摘要: 
本論文的目的是在於提出新型電動獨輪車之系統設計,推導數學模型、傾斜角控制及速度命令控制之技術與方法。本文首先詳細地描述該電動獨輪車之控制系統設計,各主要元件以及控制架構。在數學模型方面,不同於倒單擺模型,本研究以馬達轉矩為輸入,並運用利拉格朗日運動力學建立一種新型電動獨輪車之動態方程式。在控制器設計方面,分別使用線性和非線性模型來完成兩種控制器設計,用以於達到傾斜角控制與速度命令控制。在系統存在不確定性情況下,推導兩種結合模糊基底函數的智慧適應運動控制策略,用以實現機台平衡與速度控制。模擬與實驗數據被用來驗證所提出的控制器之有效性與性能。

This thesis presents techniques and methodologies for system design, mathematical modeling, tilt-based and speed-command speed control of an electric unicycle. System design, key components and control architecture of the unicycle are described in detail. Unlike the typical model inverted pendulum, a novel mathematic model of the vehicle is established using Lagrangian mechanics by considering the motor torque as an input. As for the controller design, two controllers based on linearized and nonlinear models are designed to achieve tilt-based and speed-command control, respectively. In the presence of system uncertainties, two intelligent adaptive motion controllers using fuzzy basis function networks (FBFN) are proposed to achieve self-balancing and speed control. Simulations and experimental results are conducted to study the effectiveness and performance of the proposed control methods.
URI: http://hdl.handle.net/11455/6901
其他識別: U0005-2107201114243900
Appears in Collections:電機工程學系所

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