本論文係以非線性 H2 與 Hinf 的控制法設計概念來探討非完整約束輪型機器人的軌跡追蹤議題，故這兩個非線性的控制器，必須分別滿足H2 與 Hinf所設定的效能指標。本論文最主要的貢獻為藉由推導獲得一個簡單且容易實現的控制法設計方式來實現非完整約束輪型機器人的軌跡追蹤。基於上述，本論文嘗試藉由分析非完整約束輪型機器人的軌跡追蹤動態誤差方程式，直接進行上述兩個問題的求解，並將H2 與 Hinf 軌跡追蹤的問題轉換成對非線性隨時間變化的類Riccati方程式的求解。非常幸運地，從求類Riccati方程式的求解過程，我們可以得到一個非常容易被實現之控制器架構。最後，利用本論文所推導出的方法，藉由電腦模擬與實作測試來驗證非完整約束輪型機器人對圓形與直線的軌跡追蹤的效能驗證，從呈現的結果中，很清楚的可以發現上述提出之方法均能有效的控制該輪型機器人達成軌跡追蹤之目的。

Two nonlinear H2 and Hinf trajectory tracking control laws for nonholonomic wheeled mobile robots are presented in this dissertation, and the design objective is to specify nonlinear control laws that satisfy the H2 and Hinf performance indexes,respectively, for the trajectory tracking design of nonholonomic wheeled mobile robots. The main contribution of this dissertation is: two solutions with the simpler control structures for the trajectory tracking design of nonholonomic wheeled mobile robots are elegantly derived and practically implemented. Based on a series mathematical analysis for the property of the trajectory tracking error dynamic system of nonholonomic wheeled mobile robots, these H2 and Hinf trajectory tracking problems can be transferred directly to solve different nonlinear time varying Riccati-like equations. Furthermore, solutions to these nonlinear time-varying Riccati-like equations can be fortunately obtained with two very simple forms for the preceding control designs. Finally, simulations and practical testing conditions on circular and straight reference trajectories are used for performance verifications of these proposed methods.

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