雙輪倒單擺車輛系統之影像伺服循跡控制

• Main Authors: Lai,WenHuei, 黎文輝
• Other Authors: Chen, Shyh-Leh
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/97467305002281865121

碩士 === 國立中正大學 === 機械工程學系暨研究所 === 101 === In this thesis, we have a dynamics of two-wheeled inverted pendulum vehicle which is including dynamics of motors. We are using Generalized Equivalent Errors Method to transfer state equation of system to error dynamics. It means that our controller objective is stabilizing the errors. The Sliding Mode Control Method is used to design our controller and the experimental results show that this controller is able to control the two-wheeled inverted pendulum vehicle contouring in a balanced state. On the other hand, in order to use the camera as a sensor to feedback the position of vehicle for controller, we derive the geometric relationship between the vehicles, cameras and landmarks. By using this relationship, we are able to get the position of vehicle from the information of images.