本文提出一全向移動式載具路徑追蹤控制器之設計，使其具有軌跡追蹤之能力。全向移動式載具裝有三組配有全向輪的驅動器，載具能於任意方向的移動且不改變本體的姿態。本研究所設計之控制器是以強健適應性順滑模式控制器為基礎，此控制器具有抵抗系統參數之不確定性及外在的干擾的優點。
此外，為了能讓載具增加對周圍視野的範圍，將全向攝影機系統應用於載具上，以達到目標物追尋的功能。將影像資料經由影像處理方式鎖定目標物之特徵，並找出目標物後，進而計算出目標物位於空間中的位置。搭配強健適應性順滑模式控制器來控制載具進行追尋目標且保持所設定之距離，並克服系統所存在的不確定性及干擾。
最後由實驗驗證其可行性及效能，實驗分別為三種不同的追蹤軌跡路徑，方形、 “ ”形、圓形路徑及目標物追蹤的任務。 將本文所提出的強健適應性順滑模式控制器與傳統順滑模式控制器做為比較，由實驗結果得知，本文所提出的控制方法的可行性及效能比傳統順滑模式控制器所表現的更為優秀。

This dissertation presents a robust trajectory tracking control scheme for the omnidirectional mobile vehicle (OMV) to provide autonomous tracking capability. The OMV is equipped with three omnidirectional wheels, which allow the vehicle freely changes its moving direction regardless of the steering constraint. All the tracking control algorithms are developed on the basis of a robust adaptive sliding mode controller (ASMC) framework. The trajectory tracking performance of OMV is therefore ensured by utilizing the ASMC approach, which copes with system uncertainties and unknown external disturbances.
Besides, in order to let the mobile vehicle own a complete sight around its environment, the vehicle is also supplied with an omnidirectional camera system. For the purpose of object tracking missions, the corresponding image processing techniques for the omnidirectional images are also established to extract the characteristic features of the target object. Through analysis of the image information, the position of the target object can be located in three-dimensional space. Based on this information, the proposed ASMC method is able to calculate suitable control efforts for those three omnidirectional wheels to drive the mobile vehicle towards the target object within a predetermined distance while overcoming possible uncertainties and disturbances.
Actual tracking experiments including the trajectory tracking and the object tracking are conducted on an experimental omnidirectional mobile vehicle. Three different paths, a square path, an eight shape path, and a circular path, are investigated for trajectory tracking tasks. Comparison of tracking performance using the conventional SMC and the presented ASMC is also made. Experimental results demonstrate the feasibility and effectiveness of the proposed tracking control scheme. Furthermore, the superiority of the presented control method than the SMC is also verified.

VERIFICATION LETTER FROM THE ORAL EXAMINATION COMMITTEE i
ACKNOWLEDGEMENT ii
ABSTRACT(CHINESE) iii
ABSTRACT(ENGLISH) iv
CONTENTS vi
LIST OF FIGURES viii
LIST OF TABLES x
NOMENCLATURE XI
CHAPTER 1 INTRODUCTION 1
1.1 BACKGROUND AND MOTIVATION 1
1.2 LITERATURE SURVEY 2
1.3 DISSERTATION ORGANIZATION 7
CHAPTER 2 THE OMNIDIRECTIONAL MOBILE VEHICLE (OMV) SYSTEM 9
2.1 INTRODUCTION 9
2.2 THE OMNIDIRECTIONAL MOBILE VEHICLE 10
2.2.1 Mechatronic Analysis 11
2.2.2 Control Torque Analysis 14
2.3 THE OMNIDIRECTIONAL VISION SYSTEM 15
2.3.1. Optics of Hyper Omni-Vision 17
2.3.2. Image Processing 21
CHAPTER 3 CONTROLLER DESIGN AND STABILITY ANALYSIS 25
3.1 INTRODUCTION 25
3.2 SLIDING MODE CONTROL 26
3.2.1 Robust Sliding Mode Controller Design 26
3.2.2 Trajectory Control for the OMV System 31
3.3 ADAPTIVE SLIDING MODE CONTROLLER DESIGN (ASMC) 35
3.4 COMPARATIVE STUDIES 39
CHAPTER 4 TRACKING EXPERIMENTS 46
4.1 EXPERIMENTAL SETUP 46
4.2 EXPERIMENTAL RESULTS 48
4.2.1 Path Tracking 49
4.2.2 Object Tracking 55
CHAPTER 5 CONCLUSIONS 59
5.1 CONTRIBUTIONS 59
5.2 FUTURE WORK 60
REFERENCES 61

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