Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/7039
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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摘要: 
本論文的目的是針對一麥卡倫全方位移動輪椅,提出兩種手動控制、適應運動控制和嵌入式設計實現的技術與方法學。一個開迴路手動控制器被設計,用以執行所希望的運動,而閉迴路手動控制器則被研製出,用以準確地執行運動命令。適應運動控制是經由里亞布諾夫方程式進行推導,並證明其漸進穩定。這三種控制器已經藉由FPGA開發板,使用SoPC方式進行實現。模擬和實驗結果證明所提出的三種麥卡倫全方位移動輪椅控制器之有效性與性能。

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.
URI: http://hdl.handle.net/11455/7039
其他識別: U0005-2208201113080400
Appears in Collections:電機工程學系所

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