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標題: 兩輪自平衡機器人之智慧型運動控制
Intelligent Motion Control of a Self-Balancing Two-Wheeled Mobile Robot
作者: 朱祥雲
Ju, Shiang-Yun
關鍵字: two-wheeled self-balancing;兩輪自平衡;backstepping control;sliding-mode control;fuzzy basis function networks;倒逆步控制;順滑控制;糢糊基底網路
出版社: 電機工程學系所
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This thesis presents techniques for intelligent motion control of a two-wheeled self-balancing mobile robot. Based on the dynamic mathematical modeling with exact parameters, two backstepping sliding-mode controllers are designed to achieve desired speed tracking and yaw rate control, in order to accomplish out trajectory tracking and stabilization. In the presence of mass and parameter variations, two intelligent motion controllers using fuzzy basis function networks (FBFN) are proposed to achieve trajectory tracking and stabilization. Simulations and experimental results indicate that the proposed motion controllers are capable of providing satisfactory control performance for trajectory tracking and stabilization.
其他識別: U0005-1008201022180500
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