Please use this identifier to cite or link to this item:
Dynamic Modeling and Tracking Control of a Nonholonomic Wheeled Mobile Manipulator with Two Robotic Arms
|關鍵字:||Nonholonomic system;非完整拘束系統;Backstepping Control;Mobile Manipulator;Lagrage's equation;倒逆步控制;自走機械手臂;拉格蘭吉方程式||出版社:||電機工程學系||摘要:||
接著利用所提出完整動態模式，並拓展倒逆步技術(Backstepping technique)與過濾誤差方法(Filtered error method)的觀點，藉由李阿普諾夫定理(Lyapunov' theory)設計出全域漸近穩定路徑追蹤非線性控制器，其控制法則能夠完全處理系統的非完整拘束特性以及完全補償各子系統間的藕合效應，同時證明系統的閉迴路穩定特性。
This thesis develops methodologies and design techniques for modeling and tracking control of a wheeled mobile manipulator (WMM). This mobile manipulator system is typically composed of two rigid manipulators with three links mounted on a wheeled mobile robot. Compared to mobile robots and traditionally fix-based manipulators, this system is able to perform versatile missions in various applications. Owing to the wheeled structure, the nonholonomic constraints are introduced into system models to limit lateral mobility, thereby resulting in infeasibility of the smooth static feedback control laws. Meanwhile, exact modeling and controller synthesis of the WMM are nontrivial due to not only the complex system structure, but also coupled dynamics between mobile platform and manipulators.
The exact dynamic models and constraint equations of the vehicle are derived based on the Lagrange's equation with multiplier and the commercial symbolic software packages. In order to understand the effects of the coupled dynamics, the system is decomposed into three subsystems. Structural properties (e.g., skew-symmetry) of the WMM are well analyzed, which are very useful in synthesizing tracking controllers for the type of vehicle. To insure the correctness of the proposed models, the models can be reduced to match some well-known models.
Using the backstepping technique and the filter-error method, the globally asymptotically stable tracking controller based on the Lyapunov theory is proposed to make the vehicle follow any smooth desirable trajectories. This control law is capable of dealing with nonholonomic constraints and fully dynamic interactions between mobile vehicle and manipulators.
Several path following tasks including linear, circular and arbitrary trajectories are well explored in computer simulation utilizing MATLAB. These results show that both the mobile base and arms asymptotically track any smooth desired position and velocity trajectories simultaneously, and the coupled dynamics between each subsystem is fully compensated. Four simulation results also illustrate the effectiveness of the proposed models as well as the feasibility of the proposed control scheme. Especially, considering computation loads, transient system responses and tracking errors, the proposed control laws seem to outperform others control strategies, such as neural networks and feedback linearization.
|Appears in Collections:||電機工程學系所|
Show full item record
TAIR Related Article
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.