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論文名稱 Title |
強健適應可變結構追蹤控制器設計應用於輪型移動式機械手臂 Design of Robust Adaptive Variable Structure Tracking Controllers with Application to Wheeled Mobile Manipulators |
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系所名稱 Department |
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畢業學年期 Year, semester |
語文別 Language |
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學位類別 Degree |
頁數 Number of pages |
71 |
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研究生 Author |
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指導教授 Advisor |
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召集委員 Convenor |
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口試委員 Advisory Committee |
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口試日期 Date of Exam |
2007-01-05 |
繳交日期 Date of Submission |
2007-01-20 |
關鍵字 Keywords |
移動式機械手臂、可變結構控制、追蹤 mobile manipulator, variable structure control, tracking |
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統計 Statistics |
本論文已被瀏覽 5744 次,被下載 0 次 The thesis/dissertation has been browsed 5744 times, has been downloaded 0 times. |
中文摘要 |
本論文主要在於採用雙階段方式來解決移動式機械手臂的軌跡追蹤問題。首先在第一階段,針對轉向系統(Steering system),利用李亞普諾夫理論(Lyapunov Theorem)設計一個想要的速度輸入函數,使得移動式機械手臂的姿態能追蹤得到所指定的參考軌跡。此外,更進一步分析得知,車子的參考軌跡在非靜止的狀態下,車子能達到更佳的追蹤效果。接著在第二階段,考慮移動式機械手臂之動態方程式在具有擾動與輸入不確定量的情況下,採用適應可變結構控制(AVSC)方法設計力矩輸入控制器,使得其實際輸出速度能追蹤得到在第一階段所設計之想要的速度輸入函數,進而達成軌跡追蹤目的。此外,該控制器所具有的適應機制,可用來抑制未知上界的擾動。最後,針對本論文所提出的控制器設計法則,將其應用於兩軸輪型移動式機械手臂以說明其可行性。 |
Abstract |
The objective of this thesis is to solve the trajectory tracking control problems of the mobile manipulators in two stages. In the first stage, a desired velocity input function for a steering system is designed by using Lyapunov stability theorem so that the posture of the mobile manipulator can track the reference trajectory. Further analysis shows that the vehicle of the mobile manipulator will achieve better result of trajectory tracking than the existent methods if the reference trajectory of the vehicle is not assigned to be static condition. In the second stage, the torque controller of the dynamic equations of the mobile manipulator with perturbations and input uncertainty is designed by adaptive variable structure control (AVSC) methodology, so that the actual velocity can track the desired velocity input function designed in the first stage. In addition, this controller with an adaptive mechanism embedded is capable of suppressing the perturbations with unknown upper bound except that from the input channel, and achieve asymptotical stability under certain mild conditions. Finally, an example of a two-link wheeled mobile manipulator is presented to demonstrate the feasibility of the proposed control schemes. |
目次 Table of Contents |
論文封面 中文摘要 Abstract..................................................i List of Figures..........................................iv 1 Introduction............................................1 1.1 Motivation............................................1 1.2 Brief Sketch of the contents..........................4 2 Controller Design for the Mobile Manipulators...........5 2.1 System Descriptions and Assumptions...................5 2.2 Design of the Control Scheme.........................10 2.3 Stability Analysis of the Proposed Control Scheme....15 2.4 Summary of Design Procedure..........................18 3 The Two-link Wheeled Mobile Manipulator................19 3.1 The Steering System of the Two-link WMM..............21 3.2 Design of Tracking Controller for Two-link WMM...... 23 4 Simulation.............................................32 4.1 Model Parameters and Simulation Environment..........32 4.2 Tracking a Straight Line Path for the Vehicle and Sinusoid Trajectories for the Manipulator........34 4.3 Tracking a Circular Path for the Vehicle and Sinusoid Trajectories for the Manipulator............44 5 Conclusions............................................54 Appendix.................................................56 References...............................................60 |
參考文獻 References |
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