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標題: 麥卡倫全方位輪椅之手動與適應運動控制
Manual and Adaptive Kinematic Control of a Mecanum Omnidirectional Wheelchair
作者: 許銘峯
Shiu, Ming-Feng
關鍵字: Manual;麥卡倫;Wheelchair;Omnidirectional;Adaptive;輪椅;全方位移動平台;自適應控制
出版社: 電機工程學系所
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This thesis presents methodologies and techniques for system design, manual control, adaptive kinematic control and embedded implementations for an omnidirectional wheelchair with four Mecanum wheels. An open-loop manual controller is designed to carry out desired motions, and a closed-loop manual controller is synthesized in the moving frame to achieve command tracking exactly. An adaptive kinematic control is derived in the world frame and shown asymptotically stable via the Lyapunov stability theory. All the controllers have been implemented into an FPGA development board using System-on-a-programmable-chip (SoPC) technology. Simulations and experimental results are conducted to illustrate the effectiveness and performance of the proposed controllers for Mecanum wheeled omnidirectional wheelchairs.
其他識別: U0005-2208201113080400
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