Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8800
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
引用: [1] D. Voth, “Segway to the future,” Intelligent Systems, IEEE [see also IEEE Intelligent Systems and Their Applications] vol.20, no.3, pp.5 - 8, May-June 2005. [2] Y.Hosoda, S. Egawa, J. Tamamoto, K. Yamamoto, R.Nakamura and M.Togami “Basic design of human-symbiotic robot EMIEW,” in Pro. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp.5079-5084, Oct. 9 - 15, 2006. [3] S.C. Lin, System design, modeling and control of self-balancing human transportation vehicles, Ph.D Dissertation, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, July 2008. [4] M. Sasaki, N. Yanagihara, O. Matsumoto, and K. Komoriya, “Steering control of the personal riding-type wheeled mobile platform (PMP),” in Proc. 2005 IEEE International Conference on Intelligent Robots and Systems, pp.1697-1702, 2005. [5] F. Grasser, A.D'Arrigo, and S. Colombi, “JOE: A Mobile, Inverted Pendulum,” IEEE Trans. Industrial Electronics, vol.49, no.1, pp.107-114, February 2002. [6] K. Pathak, J. Franch, and S. K. Agrawal, “Velocity and position control of a wheeled inverted pendulum by partial feedback linearization,” IEEE Transactions on Robotics, vol.21, no.3, pp.505-513, June 2005. [7] Y.-S. Ha and S. Yuta, “Trajectory tracking control for navigation of the inverse pendulum type self-contained mobile robot,” Robotics and Autonomous Systems, vol.17, pp. 65-80, 1996. [8] C. C. Tsai, C. K. Chan and S. H. Wang , “Nonlinear Slide-Mode Motion Control of a Self-balancing Autonomous Service Robot,” Proc. of 2009 International Conference on Service and Interactive Robots, Taipei, Taiwan, August 6-7, 2009. [9] A. Salerno, and J. Angeles, “The control of semi-autonomous two-wheeled robots undergoing large payload-variations,” in Proc. ICRA'04, vol.2, pp.1740-1745, Apr 26-May 1, 2004. [10] C. C. Tsai, C. K. Chan, and Y. H. Fan, “Planned Navigation of a self-balancing autonomous service robot,” International Conference on Advanced Robots and its Social Impacts, Taipei, Taiwan, Aug. 2008. [11] J.C. Lo and Y. H. Kuo, “Decoupled fuzzy sliding-mode control, ”IEEE Transactions on Fuzzy Systems, vol. 6, no. 3, pp. 426-435. Aug. 1998. [12] C. M. Lin and Y.J. Mon, “Decoupling Control by hierarchical fuzzy sliding-mode controller,” IEEE Transactions on Control System Technology, vol. 13, no. 4, pp. 593-598, July 2005. [13] M. Aicardi, G.. Casalino, A. Bicchi, and A. Balestrino, “Closed-loop steering of unicycle like vehicles via Lyapunov techniques,” IEEE Robotics & Automation Magazine, vol.2, no.1, pp.27 - 35, March 1995. [14] S. H. Wang, Nonlinear motion control and human-aware navigation of a two-wheeled self-balancing mobile robot, M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan, July 2009. [15] R. Siegwart and I R Nourbakhsh, Introduction to autonomous mobile robots, 1st Ed., Bradford, 2004. [16] E. A. Sisbot, L. F. Marin-Urias, R. Alami, and T. Simeon “A mobile robot that performs human acceptable motions,” in Pro. IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1811-1816, October 2006. [17] E. A. Sisbot, A. Clodic, L. F. Marin-U., M. Fontmarty, L. Brethes, and R. Alami, “Implementing a human-aware robot system,” IEEE International Symposium on Robot and Human Interactive Communication, pp.727-732, September 2006. [18] C. K. Lin and S. D.Wang, “Robust self-tuning rotated fuzzy basis function controller for robot arms,” Control Theory and Applications, IEE Proceedings, vol.144, no.4, pp.293-298, July 1997. [19] Z. Huaguang, L. Cai and B. Zeungnam, “A fuzzy basis function vector-based multivariable adaptive controller for nonlinear systems,” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 30 no.1, pp.210-217, Feb. 2000. [20] C. K. Lin, “Adaptive critic autopilot design of Bank-to-turn missiles using fuzzy basis function networks,” IEEE Transactions on Systems, Man, and Cybernetics, Part B, vol. 35 no.2, pp.197-207, April 2005. [21] W. Wang, X.D. Liu and J. Q. Yi, “Structure design of two types of sliding-mode controllers for a class of under-actuated mechanical systems,” IET Proceeding of Control Theory and Applications, vol.1, no.1, pp. 163-172, Jan. 2007
摘要: 
本論文的目的是研究兩輪自平衡自動服務機器人的智慧型運動控制。本文首先以具精確參數之動態數學模型為基礎的情況下,提出兩種倒逆步滑動控制法則,達成速度追蹤與轉向控制,進而完成軌跡追蹤與點對點姿態穩定之功能。接著考慮質量與其他參數的變動情況下,推導兩種結合模糊基底函數的智慧型運動控制策略,用以實現機器人之上述兩項運動控制功能。電腦模擬和實驗結果顯示本文所提的運動控制法則,在軌跡追蹤與點對點姿態穩定之運動性能表現,具有滿意的控制功能。

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.
URI: http://hdl.handle.net/11455/8800
其他識別: U0005-1008201022180500
Appears in Collections:電機工程學系所

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