基於適應性模糊滑動模式控制器之輪型行動機器人循跡控制

Track Following Control of Wheeled Mobile Robot Based on Adaptive Fuzzy Sliding-Mode Controller

朱健銘(Chin-Ming Ju)

指導教授 ： 姚立德

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2011年)

摘要

本研究目的是發展一套適應性模糊滑動模式控制器，控制非完整約束輪型行動機器人(nonholonomic constraint WMRs)線性速度與角速度，加入運動學控制器(kinematic controller)與nonholonomic constraint輪型行動機器人之動態模型可解決路徑追隨之問題。在實際路徑追隨上，nonholonomic constraint輪型行動機器人含不確定性架構與外部干擾，本研究採用適應性模糊滑動模式控制解決此問題。滑動模式控制可使控制器結構簡單，具參數變化靈敏度佳與抗外部干擾的性質，抖震現象可由適應性模糊控制解決，經利亞普諾夫函數(Lyapunov function)作穩定性分析，求得適應法則，加上寬幅調變函數，使控制器更加完善。最後在一室內定位系統中，使用適應性模糊滑動模式控制器控制nonholonomic constraint輪型行動機器人，達到路徑追隨之目的。

關鍵字

輪型行動機器人 ； 運動學控制器 ； 動態模型 ； 適應性模糊滑動模式控制

並列摘要

This research purpose is a control algorithm based on adaptive fuzzy sliding-mode controller to control the linear and angular velocities of nonholonomic constraint WMRs. Path Following is solved by kinematic controller and dynamic model of nonholonomic constraint WMRs. Actually, in path tracking, using adaptive fuzzy sliding-mode control can solve nonholonomic constraint WMRs with uncertain structure and external disturbance. The use of sliding-mode control is to simplify the controller that is properties such as insensitivity to parameter variations and external disturbance rejection. Chattering phenomenon is solved by adaptive fuzzy control. Stability analysis is performed with the Lyapunov function to derive adaptive law. With modulated membership functions, the controller is more complete. Finally in indoor locating system, it can achieve the goal of controlling nonholonomic constraint WMRs with adaptive fuzzy sliding-mode controller for path tracking.

並列關鍵字

Wheeled Mobile Robots ； kinematic controller ； dynamic model ； adaptive fuzzy sliding-mode control

參考文獻

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