Tracking Design and Implementation of Omnidirectional Driven Service Robot Using Hierarchical Adaptive Finite-Time Control

• Main Authors: Wei-Hsuan Hung, 洪偉軒
• Other Authors: Chih-Lyang Hwang
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/n9sgkj

碩士 === 國立臺灣科技大學 === 電機工程系 === 106 === Advantageous feature of omnidirectional driven service robot (ODSR), i.e., simultaneous translation and rotation, the human-robot collaborations (e.g., voice command control, human following control) are more reliable and satisfactory. The path tracking model of an ODSR includes mechanism kinematics, mechanical dynamics with friction of each wheel and transformation between ODSR and world coordinates, and motor dynamics. To track the desired pose of ODSR in finite time, the adaptive finite-time virtual desired path (AFTVDP) is designed. To make the direct output track the AFTVDP in finite time, an adaptive finite-time tracking control (AFTTC) is designed to execute high frequency motions (e.g., time-varying ground conditions, initial misalignment pose). In summary, the proposed hierarchical adaptive finite-time control (HAFTC) contains AFTVDP, and AFTTC. Finally, experiment validates the effectiveness and robustness of the proposed control.