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題名 | Based on Hierarchical Strategy of Adaptive Tracking Control of Mobile Robots Using Backstepping Design=後退式階層策略實現移動式機械人之適應追蹤控制 |
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作者姓名(中文) | 蔡樸生; 陳珍源; 吳德豐; | 書刊名 | 中華技術學院學報 |
卷期 | 25 2002.09[民91.09] |
頁次 | 頁105-121 |
分類號 | 448.94 |
關鍵詞 | 階層式架構; 移動式機械人; 軌跡追蹤; 後退式; 運動模型; 動力模型; 適應性控制; 時變回授律; Hierarchical architecture; Mobile robot; Trajectory tracking; Backstepping; Kinematic model; Dynamic model; Adaptive control; Time varying feedback; |
語文 | 英文(English) |
中文摘要 | 針對移動式機械人的軌跡追蹤問題,本文提出階層式控制架構,將控制器的設計分為低階實體層與高階決策層來處理。決策層的工作目標在導引機械人之軌跡追蹤,採用運動模型進行控制器之設計。基於後退式的理念,以系統化的設計程序建立了全局漸近穩定之時變回授律。至於實體層的設計乃由實務的觀點出發,以動力模型為基礎,建立適應控制法則使得機械人的廣義速度收斂至決策層的控制輸入。本文提出階層式控制架構,整合運動模型與動力模型,分別設計決策層與實體層之時變適應控制器,使得整體系統具有全局漸近穩定之特性。模擬結果顯示,本文所發展的階層式控制器在移動式機械人上具有良好之軌跡追蹤效果。 |
英文摘要 | A hierarchical control architecture, divided into upper and lower control levels, for the trajectory tracking control of mobile robots is proposed in this paper. The objective of the upper control level is to navigate the mobile robot on the desired trajectories by means of the kinematic model. A control law based on backstepping techniques is synthesized to make the posture error asymptotically stable. On the lower control level, the dynamic model of the robot is adopted from practical viewpoint. In order to guarantee the global asymptotic stability and demanded performance, a time-varying adaptive tracking control is designed such that the generalized velocities can converge to the uppe4r control level's inputs. Ahybrid controller is developed to incorporate the kinematic controller into the dynamic controller to deal with uncertain dynamic parameters of the mobile robot. Simulation results are utilized to illustrate the effectiveness of the proposed control algorithm. |
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