摘 要

本論文主要係探討輪式移動機器人之軌跡追蹤控制法之研究。本論文採雙步驟控制法設計輪式移動機器人之軌跡追蹤控制器。首先在輪式移動式機器人之運動模式下，利用李阿普諾夫方法設計速度控制器；接著，在車子的動態模型下，利用滑動模式控制方法設計力矩輸入控制器，使得車子的實際速度能追蹤到速度控制器所得出之速度命令，進而能達成想要之軌跡追蹤能力。另外我們利用直接式適應性策略加入至滑動模式動態控制器，此適應性策略可補償輪式移動機器人未知參數變動與外加擾動。最後以Matlab程式軟體之模擬結果，驗證所設計之軌跡追蹤控制器的效益與適用性。

Abstract

This thesis is mainly to study of trajectory tracking controller design for wheel mobile robot (WMR). In this thesis, we will design a two-stage tracking controller for the mobile robot. Firstly, a velocity controller for the kinematic (steering) system will be designed by Lyapunov method. Secondly, a sliding-mode control torque controller of dynamic model is designed to make the real mobile robot velocity reach to the desired velocity command, which is determined by the kinematic controller. The two-stage tracking controller makes the WMR achieve complete tracking of the desired trajectory. Moreover, we employ the direct adaptive algorithm to design sliding-mode dynamic controller for the WMR. The adaptive algorithm is designed to compensate the lumped bound of system uncertainties and external disturbances in the controlled WMR. Finally, the Matlab simulation results are performed to verify the benefit and the feasibility of the developed schemes.

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