| Summary: | 博士 === 國立成功大學 === 電機工程學系碩博士班 === 97 === This dissertation presents two types of wheeled mobile robots (WMR) coupled with the controller design for trajectory tracking issue. First, we introduce both the kinematic models of the nonholonomic and holonomic WMRs; the kinematic controller for the former whose control gains are trained by evolutionary programming is derived by using the backstepping method, and the fuzzy logic controller is adopted as kinematic controller for the latter, the holonomic WMR. According to the motion constraint, the dynamic model for the nonholonomic WMR is developed by the Lagrange formula. The dynamic model of the holonomic WMR is then obtained from the Newton’s Second Law of Motion since the motion of this kind of robot is omni-directional. Next, the trajectory tracking abilities of both kinds of WMRs are ensured by utilizing the adaptive fuzzy sliding-mode controllers, which not only eliminate the chattering phenomenon in the sliding-mode control, but also cope with the system uncertainties and external disturbances. Additionally, the stabilities of the proposed methods are guaranteed by adopting the Lyapunov stability theory. The experimental results are done in the test field to demonstrate the feasibility of real nonholonomic WMR maneuvers. Finally, computer simulations on the tracking issues of these two WMRs successfully validate the effectiveness of the proposed adaptive fuzzy sliding-mode dynamic controllers.
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