車輛之模糊控制及追蹤控制

Fuzzy Control and Tracking Control for Mobile Robots

朱明正(Ming-Cheng Chu)

指導教授 ： 韓光渭 博士 ； 林志民 博士

元智大學/工程學院/電機與資訊工程研究所/碩士(1997年)

摘要

本論文主要目的是探討車輛（Mobile Robots）之模糊控制及追蹤控制
。首先是非線性且不穩定之三節拖車系統的倒車控制設計，過去有些文章
使用模糊控制或類神經控制或模糊-類神經控制等作倒車控制，而本篇模擬
的目標就是先將問題作模糊模式化，再來就是應用平行分散補償及穩定分
析的設計技巧來設計模糊控制器，使三節拖車的動態系統能從任一起始位
置完美地抵達控制的目的地，而電腦模擬的結果顯示所設計的平行分散補
償模糊控制器確實能有效地將拖車系統倒退至想要的位置上，而且也能避
免發生"轉折"之現象。論文中介紹之方法適合應用在那些複雜且不易設計
的多變數非線性系統的控制器設計上。
接下來透過輪型機動搬運車先天的運動特性分析，來探討左右輪個別
驅動及追蹤點不在後輪輪距之基準線上之輪型機動搬運車的追蹤控制問題，
其中包括追蹤變數的指定及位置方位追蹤之耦和問題等，並瞭解追蹤點不
在後輪輪距基準線上之基本運動方位方程式。其追蹤控制法則藉著李亞普
諾夫穩定原理驗證可知，在實際追蹤任意不同路徑時是全區域穩定的。文
中也舉例各種不同路徑之模擬，以說明其控制法則的追蹤能力，能達到即
時控制之要求。

關鍵字

模糊控制 ； 追蹤控制 ； 平行分散補償 ； 左右輪個別驅輪型搬運車

並列摘要

The main purpose of this thesis is to study fuzzy control and
tracking control for mobile robots. First, Control systems for
backing mobile robots with two trailers, which is nonlinear and
unstable, is designed by applying a design technique of model-
based fuzzy control and stability analysis. The control design
is carried out based on the fuzzy model via so-called parallel
distributed compensation (fuzzy PDC) schemes. The simulation
results show that the designed fuzzy controller effectively
realize backing control of the mobile robots with two trailers
from all initial positions and the "jackknife" phenomenon can be
avoid.
Next, Fundamental tracking control algorithms of a
differentially steered-wheeled mobile robot with two conventional
driven wheels are studied through analyzing the robot's inherent
kinematics. This includes the tracking variable assignment as
well as the tracking singularity and position-orientation tracking
decoupling problems. Globally convergent tracking control
algorithms are proposed, which can exactly track any differenti-
able reference path. A fundamental motion orientation equation
under the condition of exact position and orientation concurrently
for this kind of mobile robot configuration if tracking point is
not on the baseline. Examples are provided illustrating the
tracking ability of applied control algorithms.

並列關鍵字

Fuzzy Control ； Tracking Control ； parallel distributed compensation ； Differentially steered for wheeled mobile robots

參考文獻

〔1〕T. Takagi M. Sugeno, "Fuzzy Identification of Systems and its application to modeling and control," IEEE Trans. Syst., Man, and Cyber., Vol. 15, pp 116-132, 1985.

〔2〕H. Wang, K. Tanaka and M. Griffin, "Parallel Distributed Compensation of Fuzzy Systems via Takagi-sugeno Fuzzy Model," Proc. of 4th IEEE Int. Conf. On Fuzzy Systems, Vol. 2, pp 531-538, 1995.

〔3〕 H. Wang, K. Tanaka and M. Griffin, "An Approach to Fuzzy Control of Nonlinear Systems," IEEE Trans. On Fuzzy Systems, Vol. 4, No. 1, pp 14-23, 1996.

〔5〕 K. Tanaka and K. Yoshioka, "Design of Fuzzy Controller for Backer-Upper of a Five-Trailer and Truck," 4th IEEE Int. Conf. On Fuzzy Systems, pp 1543-1548 1995.

〔7〕 K. Tanaka and M. Sugeno, "Stability Analysis and Design of Fuzzy Control Systems," Fuzzy Sets and Systems, Vol. 45, No. 2, pp 135-156, 1992.