三輪無人載具之建模與階層式控制

Abstract

本論文主要針對非完整約束系統提出一套階層化設計的架構。對於一個具有非完整約束的多剛體系統而言，如何建立一組適當的系統模型，幫助控制器設計以及發揮其效能，為一大問題。由於Appell方程式所含的解耦特性，我們可以藉由選取適當的特許變數，使得整個系統可分解成運動模型以及動力模型兩部分。針對這兩個模型，可分別設計控制器，使得在控制上更加的彈性且易於實現。本文先建立矩陣形式的Appell方程式，透過一個有系統的程式來處理非完整約束系統模型化的問題。在建模的過程中，適當的選取一組特許變數，使得動力模型與運動模型互相解耦，整個系統因而可區分為上層路徑規畫，中層運動層以及低階動力層。由於運動過程中可能有擾動發生或者初使點並不在參考路徑上，因此採用模糊補償器來解決此問題，根據載具的姿態以及位置誤差來進行運動補償，使其能回到參考路徑上。最後，我們改裝了一真實大小的三輪載具，並證實本文所構思的方式，其追蹤效果與預期吻合。

The main theme of this thesis is to perform hierarchical control architectures for a system subject to nonholonomic constraints. For a multi-rigid-body system with nonholonomic constrain, the issue of setting a appropriate model so that the controller design becomes systematic and efficient is important. Basing on the decoupling feature of the Appell equation, we can select appropriate privilege variables to make the system separated into dynamic model and kinematics model. For the two parts, we can design controllers individually, which make the control more flexible and easy. In this thesis, we first construct the matrix form of the Appell equation to deal with the nonholonomic systems. The choice of appropriate privilege variables makes it possible that the dynamic part and kinematics part decoupled. The whole system can then be separated into three levels: motion planning, kinematics, and dynamic. Because disturbance may appear or initial configuration may not be on the reference path, we use fuzzy kinematics compensator to solve this problem. A three-wheeled vehicle was restructured and used to teat the proposed methodology. Experimental results show the effectiveness of our design.