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標題: 兩種類型電動獨輪車之智慧自適應運動控制
Intelligent Adaptive Motion Control for Two Types of Electric Unicycles
作者: 李易餘
Yi-Yu Li
關鍵字: 自適應控制;倒逆步;順滑模態控制;模糊小腦模型控制器;小波模糊小腦模型控制器;adaptive control;backstepping;sliding mode control;fuzzy cerebra model articulation controller;wavlet fuzzy cerebra model articulation controller;electric unicycle
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This dissertation presents techniques and methodologies for system design, mathematical modeling, and intelligent adaptive motion control for two types of electric unicycles. A mechatronic method is used to accomplish system design, key components and control architecture of two types of experimental electric unicycles. Mathematic models of the vehicles are established by using Lagrangian mechanics and taking into account different riders and terrain surfaces. For the purpose of achieving self-balancing and speed control goals, we propose four types of controllers: linear quadratic regulator (LQR) control, nonlinear adaptive steering control with fuzzy cerebra model articulation controller (CMAC), adaptive steering control with wavelet fuzzy CMAC (WFCMAC), and direct adaptive WFCMAC control. The asymptotic stabilities of the proposed four controllers are proven by Lyapunov stability theory and Barbara lemma. The effectiveness and merits of the proposed controllers are well exemplified by conducting computer simulations on experimental electric unicycles. Comparative studies via simulations also show that the proposed controllers outperform other existing controllers. Many riding experiments are carried out to demonstrate the performance and applicability of the proposed controllers together with both types of laboratory-built experimental electric unicycles.

其他識別: U0005-2811201416194528
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