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Intelligent Adaptive Simultaneous Tracking and Stabilization for Nonholonomic Wheeled Mobile Robots
|關鍵字:||simultaneous tracking and stabilization;軌跡追蹤與點對點控制;sliding-mode control;fuzzy wavelet network;倒逆步順滑模態;模糊小波網路理論||出版社:||電機工程學系所||引用:|| B. Tribelhorn, and Z. Dodds, “Evaluating the Roomba: A low-cost, ubiquitous platform for robotics research and education,” in Proc. of IEEE International Conference on Robotics and Automation, Roma, Italy, April, 2007, pp, 1393-1399.  C. P. Connette, C. Parlitz, B. Graf, M. Hagele, A. Verl, “The mobility concept of Care-O-bot 3,” in Proc. of 39th International Symposium on Robotics, Seoul, Korea, October, 2008, pp. 746-750.  K. Namera1, S. Takasugi1, K. Takano, T. Yamamoto and Y. Miyake, “Timing control of utterance and body motion in human-robot interaction,” in Proc. of the 17th IEEE International Symposium on Robot and Human Interactive Communication, Munich, Germany, August, 2008, pp. 119-123.  K. Masashi, H. Yuji, M. Toshio, “Humanoid robots,” Hitachi Review, vol. 58, no. 4, pp. 151-156, 2009.  R. Brooks, L. Aryananda, A. Edsinger, P. 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The dissertation presents three intelligent adaptive control methodologies for simultaneous tracking and stabilization (STS) of nonholonomic wheeled mobile robots. First, via the well-known kinematic and dynamic models of nonholonomic mobile robots with differential driving mechanisms, a kinematic controller is proposed to achieve STS and then an adaptive dynamic controller based on the designed kinematic controller is constructed by Lyapunov stability theory and backstepping. A deoxyribonucleic-acid (DNA) computing algorithm is used to searching for the best parameters in the sense of minimum of integrated square error (ISE) or control effort. Second, one more complicated kinematic and dynamic controller is also synthesized by Lyapunov stability theory and backstepping for nonholonomic mobile robots whose center of gravity does not coincide with the center of the two driving wheels; the three optimal parameters of the aforementioned kinematic controller are searched by using the DNA computing algorithm. Third, both backstepping and aggregated hierarchical sliding-mode control are first emploed to solve for the same STS problem for a self-balancing two-wheeled mobile robot, and then an intelligent adaptive motion controller using fuzzy wavelet network (FWN) is applied to achieve STS for the mobile robot with parameter variations, model uncertainties and unknown frictions; FWN-based adaptive motion control laws is derived using the Lyapunov stability theory. Several computer simulation results indicate that the three proposed controllers are capable of providing satisfactory performance for simultaneous tracking and stabilization of two types of nonholonomic wheeled mobile robots.
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