Distributed Intelligent Sensor Based Decentralized Variable Structure Control for a Class of Car-Like Mobile Robots

• Main Authors: Cheng-Tao Li, 李政道
• Other Authors: C. M. Wang
• Format: Others
• Language: en_US
• Published: 2004
• Online Access: http://ndltd.ncl.edu.tw/handle/38719172111153902089

碩士 === 大同大學 === 機械工程學系(所) === 93 === In this thesis, the trajectory tracking and obstacle avoidance of a car-like mobile robot (CLMR) within sensor networks via mixed decentralized variable structure control (DVSC) was developed. For implementing (dynamic) obstacle avoidance and target tracking, two distributed CCD (charge-coupled device) cameras were set up to realize the dynamic position of the CLMR and the obstacle. Based on the authority of these two CCD cameras, a suitable reference input for the proposed controller of the CLMR was planned by the CCD camera with higher authority and transmitted to CLMR by a wireless module. As for the controller design of the CLMR, the norm of the output error (i.e., the difference between the output of the reference model and system output) and weighted control input was first minimized to obtain a control such that smaller energy consumption with bounded tracking error was assured. However, an output disturbance caused by the interactions among subsystems of CLMR, modeling error, and external load deteriorated system performance. In this situation, the norm of weighted sensitivity between output disturbance and system output was minimized to attenuate the effect of output disturbance. For further improving system performance, a switching control for every subsystem of CLMR was designed. The stability of the overall system was verified by Lyapunov stability criterion. The experiments were also carried out to evaluate the usefulness of the proposed control system.