Design and Implementation of Two-wheeled Vehicle:Using Imitational Type-2 CMAC Controller

• Main Authors: Tsung-Sheng Huang, 黃琮聖
• Other Authors: Chih-Hui Chiu
• Format: Others
• Language: zh-TW
• Online Access: http://ndltd.ncl.edu.tw/handle/6jg444

碩士 === 元智大學 === 電機工程學系 === 103 === In this thesis, we design and implement an two-wheeled vehicle. In this thesis, we compared two control algorithms including type-II Cerebellar Model Articulation Control (CMAC) and imitational type-II CMAC. For nonlinear systems, the type-II CMAC is a control theory that is simply constructed and good design. However, there are many uncertain noise and factors that the system motion can be affected in the two-wheeled vehicle. Type-II CMAC has a complex algorithm. It will slow down the efficiency of the controller. In order to solve these problems, we use imitational type-II CMAC controller, where the membership function of imitational type-II CMAC controller is Gaussian function. The learning rates of the controller are determined by using an analytical method based on a Lyapunov function, such that system convergence is achieved. The variable and optimal learning rates are derived to achieve rapid tracking-error convergence. Finally, by the simulation and experimentation of two-wheeled vehicle, we compare the type-II CMAC controller and imitational type-II CMAC controller, respectively. From the results, the imitational type-II CMAC controller can be demonstrated that it has better performance for control and balance.