Network-Based Fuzzy Decentralized Sliding-Mode Control for Car-Like Mobile Robots
碩士 === 大同大學 === 機械工程研究所 === 92 === In this thesis, the trajectory tracking of a car-like mobile robot (CLMR) via network-based fuzzy decentralized sliding-mode control (NBFDSMC) was developed. First, the fuzzy decentralized sliding-mode control (FDSMC) was achieved for the nominal motor system; the...
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| Format: | Others |
| Language: | en_US |
| Published: |
2004
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| Online Access: | http://ndltd.ncl.edu.tw/handle/00551920780723176849 |
| Summary: | 碩士 === 大同大學 === 機械工程研究所 === 92 === In this thesis, the trajectory tracking of a car-like mobile robot (CLMR) via network-based fuzzy decentralized sliding-mode control (NBFDSMC) was developed. First, the fuzzy decentralized sliding-mode control (FDSMC) was achieved for the nominal motor system; the controls of steering angle and linear velocity were obtained through a modification of the scaling factors based on the nominal control of motor systems. Due to the delay transmission of a signal through an internet, a revision of FDSMC (i.e., NBFDSMC) was accomplished according to the Quality-of-Service (QoS). Then the control input was transmitted to the CLMR by a wireless device. The proposed control could track a reference trajectory without the requirement of a mathematical model. Only the information of the upper bound of system knowledge (including the dynamics of CLMR and the delay feature of network) was required to select the suitable scaling factors such that an excellent performance was accomplished. The corresponding experiments were also carried out to evaluate the usefulness of the proposed control system.
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