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標題: 麥卡倫全方位輪式機器人之智慧型適應行動控制
Intelligent Adaptive Motion Control for Mecanum Wheeled Omnidirectional Robots
作者: 李盈儒
Li, Ying-Ru
關鍵字: Mecanum;麥卡倫;Omnidirectional;robot;intelligent;FWN;全方位;機器人;智慧型;模糊小波網路
出版社: 電機工程學系所
引用: [1] J. F. Blumrich, Omnidirectional vehicle, United States Patent 3,789,947, 1974. [2] B. E. Ilou, Wheels for a course stable self-propelling vehicle movable in any desired direction on the ground or some other base, United States Patent 3,876,255, 1975. [3] M. West, H. Asada, “Design of ball wheel mechanisms for omnidirectional vehicles with full mobility and invariant kinematics,” Journal of Mechanical Design, pp. 119-161, 1997. [4] M. Wada, S. Mory “Holonomic and omnidirectional vehicle with conventional tires,” Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3671-3676, 1996. [5] B .Carlisle, “An omnidirectional mobile robot,” Development in Robotics, Kempston, pp.79-87, 1983. [6] F. G. Pin, S. M. Killough, “A new family of omnidirectional and holonomic wheeled platforms for mobile robot,” IEEE Transactions on Robotics and Automation, Vol. 15, No. 6, pp. 978-989, 1999. [7] P. Muir, C.Neuman, “Kinematic modeling of wheeled mobile robots,” Journal of Robotic Systems, Vol. 4, No. 2, pp. 281-340, 1987. [8] F. G. Pin, and S. M. Killough, “A new family of omnidirectional and holonomic wheeled platforms for mobile robots,” IEEE Transactions on Robotics and Automation, vol. 10, no. 4, pp. 480-489, 1994. [9] K.S. Byun, S. J. Kim, J. B. Song, “Design of a four-wheeled omnidirectional mobile robot with variable wheel arrangement mechanism, ” Proceedings of the 2002 IEEE International Conference on Robotics and Automation, Washington, DC, pp. 720-725, May 2002 [10] L. Wilson, C.Williams, J.Yance, J.Lew, R.L. Williams II, “Design and modeling of a redundant omnidirectional RoboCup goalie,” [online available] /papers/mech/65.pdf. [11] L. Huang, Y. S. Lim, D.C. E. L. Teoh, “Design and analysis of a four- wheel omnidirectional mobile robot, ” Proc. of the 2nd International Conference on Autonomous Robots and Agents, Palmerston North, New Zealand, pp. 425-428. December 13-15, 2004. [12] O. Purwin and R. D'Andrea, “Trajectory Generation for Four Wheeled Omnidirectional Vehicles,” Proceedings of 2005 American Control Conference, Portland, OR, USA, pp. 4979-4984, June 8-10, 2005. [13] C.-C. Shing; P.L. Hsu; S.S. Yeh, “T-S fuzzy path controller design for the omnidirectional mobile robot,” IECON 2006, 32nd Annual Conference on IEEE Industrial Electronics, Taipei, Taiwan, pp. 4142-4147, 6-10 Nov. 2006. [14] T.-H. S. Li, C.-Y. Chen, H.-L. Hung, and Y.-C.Yeh, “A fully fuzzy trajectory tracking control design for surveillance and security Robots,” E-proceeding of 2008 IEEE International Conference on Systems, Man and Cybernetics, Singapore, October, 2008. [15] D.W.C. Ho, P.A. Zhang and J. Xu, “Fuzzy wavelet networks for function learning,” IEEE Trans. on Fuzzy Systems, vol. 9, no.1, pp.200-211, Feb. 2001. [16] C. K. Lin, “Nonsingular terminal sliding mode control of robot manipulators using fuzzy wavelet networks,” IEEE Trans. on Fuzzy Systems, vol. 14, no.6, pp.849-859, Dec. 2006. [17] Y. C. Feng, Motion Control, Navigation and Mission Execution of a Tour-Guided Robot with Four-Wheeled Omnidirectional Platform, M.S. Thesis, Department of EE, N.C.H.U, Taichung, Taiwan, July 2008. [18] C. C. Tsai, and H. L. Wu, “Nonsingular Terminal Sliding Control Using Fuzzy Wavelet Networks for Mecanum Wheeled Omni-directional Vehicles,” accepted for presentation at the 2010 IEEE International Conference on Fuzzy Systems, Barcelona, Spain, July 2010. [19] B. Delyon, A. Juditsky, and A. Benveniste, “Accuracy analysis for wavelet approximations,” IEEE TRANSACTIONS ON NEURAL NETWORKS, VOL. 6, NO. 2, MARCH 1995
本篇論文針對含未知參數或參數變動之麥卡倫全方位行動機器人,發展該機器人之數學模型,進行分別設計運動學控制器,動力學控制器、智慧適應性控制器及SoPC 實現。該三種控制器皆利用倒逆步合成並透過Lyapunov 穩定定理,證明其全域漸近式的穩定。在智慧適應性控制器之設計程序中,智慧型小波網路被用來線上近似控制器中一些不確定的非線性項,可使該智慧適應性控制器在未知參數或參數變動之情況下,達成良好的運動效能。模擬結果顯示論文提出的控制方法具有可行性及有效性。

This thesis develops techniques and methodologies for modeling, intelligent adaptive motion control and SoPC implementation of a Mecanum wheeled omnidirectional mobile robot (MWOR) with unknown parameters and abrupt parameter variations. Three controllers, including kinematics, dynamic and intelligent adaptive controllers, are synthesized by backstepping and are proven globally asymptotically stable via the Lyapunov stability theory. In designing the intelligent adaptive controller, fuzzy wavelet networks are used to on-line approximate a uncertain nonlinear term of the controller, thereby achieving satisfactory motion control performance. Simulations results and experimental results are conducted which have shown the feasibility and effectiveness of the proposed control methods.
其他識別: U0005-1208201015234500
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