Please use this identifier to cite or link to this item: http://hdl.handle.net/11455/8909
標題: 自平衡兩輪運輸車之智慧適應運動控制
Intelligent Adaptive Motion Control of Self-Balancing Two-Wheeled Transporters
作者: 林伯奇
Lin, Bo-Chi
關鍵字: adaptive control;適應控制;embedded system;ARM;Self-Balancing Two-Wheeled Transporters;嵌入式系統;兩輪自平衡
出版社: 電機工程學系所
引用: References [1] Self-balancing two-wheeled transporters, [Online], 2010. Available: http://www.segway.com . [2] F. Grasser, A.D. Arrigo, and S. Colombi, “JOE: A Mobile, Inverted Pendulum,” IEEE Trans. Industrial Electronics, vol.49, no.1, pp.107-114, Feb. 2002. [3] P.K.W. Abeygunawardhana and T. Murakami, “An Adaptive Based Approach to Improve the Stability of Two Wheel Mobile Manipulator,” in proc. In proc. 33rd Annu. IEEE IECON. pp.2712 - 2717, 5-8, Nov. [4] C. C. Tsai, H. C. Huang, S. C. Lin," Adaptive Neural Network Control of a Self-balancing Two-wheeled Scooter," IEEE Transactions on Industrial Electronics, vol. 57, no. 4, pp. 1420-1427, April 2010. [5] 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, Jun. 2005. [6] Y. Xu, and K. W. Au, “Stabilization and path following of a single wheel robot,” IEEE/ASME Transactions on Mechatronics, vol.9, no.2, pp.407-419, Jun. 2004. [7] J. S. Wang, Walking control of a self-balancing two-wheeled robot, M. S. Thesis, Department of Electrical Engineering, National Central University, June 2003. [8] C. Y. Cheng, Balancing control of a self-balancing two-wheeled robot, M. S. Thesis, Department of Electrical Engineering, National Central University, June 2003. [9] J. S. Hu and M. C. Tsai, “Robust control of auto-balancing two-wheeled cart,” in Proc. of CACS Automatic Control Conference, Nov.18-19, 2005. [10] T. Blackwell, “Building a balancing scooter,” [Online]. Available: http://tlb.org/eunicycle.html . [11] C. K. Wang, Design and Implementation of a Balancing Controller for Two-wheeled Vehicles Using a Cost-Effective MCU, M.S. Thesis, Department of Electrical Engineering, St. John''s University, June 2009. [12] C. K. Lin, 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. [13] Z. Huaguang, L. Cai, 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. [14] 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. [15] 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. [16] W. L. Luo, Design and Adaptive Control of a Personal Self-Balancing Two-Wheeled Transporter, M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2006. [17] S. C. Lin, System Design, Modeling and Control of Self-Balancing Human Transportation Vehicles, ph.D Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2008. [18] C. C. Tsai, S. C. Lin and B. C. Lin, “Intelligent Adaptive Motion Control Using Fuzzy Basis Function Networks for Self-Balancing Two-Wheeled Transporters,” accepted for presentation at the 2010 IEEE International Conference on Fuzzy Systems, Barcelona, Spain, July 2010. [19] C. C. Tsai, Y. P. Hsu, B. C. Lin “Direct Adaptive Fuzzy-Basis-Function-Network Motion Control for Self-Balancing Two-Wheeled Transporters,” Proc. of 2010 IEEE International Conference on Systems, Man and Cybernatics, Istanbul, Turkey, 2010. [20] 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. [21] A. Gu, Design and Control of a Personal Self-balancing Two-wheel Scooter, M.S. Thesis, Department of Electrical Engineering, National Chung Hsing University, June 2005.
摘要: 
本論文旨在針對一自平衡兩輪電動車,發展兩種智慧適應運動控制策略及其嵌入式控制器研製技術。本文使用三星S3C2410 ARM處理器製作一台嵌入式控制器,用以實現所提的智慧適應型運動控制策略。藉由已發展的非線性數學模型,兩種結合模糊基礎網路(FBFN)之智慧適應型運動控制策略被提出,用以達成速度追蹤與轉向角速度控制。第一種智慧適應型運動控制方法使用模糊基礎網路近似學習模型不確定與時變的摩擦力,而第二種智慧適應型運動控制方法則採用模糊基礎網路直接學習該非線性控制器的能力。電腦模擬及實驗結果證實本文所建立的控制器有能力提供適當的控制動作,使得車體依照駕駛者的需求動作。

This thesis develops techniques for intelligent adaptive motion control and implementation of a self-balancing two-wheeled transporter. An embedded controller using Samsung S3C2410 ARM-9 processor is constructed to implement proposed motion control laws. With the nonlinear model of the vehicle, two kinds of intelligent adaptive motion controllers using fuzzy basis-function networks (FBFNs) are respectively proposed to achieve speed tracking and yaw rate control. The first intelligent adaptive controller aims to use FBFNs to on-line learn the un-modeling errors and unknown or terrain-dependent frictions approximately, while the second one adopts FBFNs to on-line mimic the function of the nonlinear controllers. Simulation results are performed to verify the effectiveness of the proposed intelligent adaptive motion controllers. The applicability of the proposed controllers is exemplified by using the developed embedded controller to conducted several experiments on the transporter.
URI: http://hdl.handle.net/11455/8909
其他識別: U0005-2308201000452200
Appears in Collections:電機工程學系所

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