Title page for etd-0028115-162950


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URN etd-0028115-162950
Author Ya-chao Yang
Author's Email Address No Public.
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Department Mechanical and Electro-Mechanical Engineering
Year 2014
Semester 1
Degree Ph.D.
Type of Document
Language English
Title Robust Tracking Controller Design for an Omnidirectional Mobile Vehicle
Date of Defense 2014-10-02
Page Count 82
Keyword
  • Omnidirectional wheel
  • Sliding mode control
  • Robust adaptive control
  • Parameter estimation
  • Mobile Robot
  • Abstract This dissertation presents a robust trajectory tracking control scheme for the omnidirectional mobile vehicle (OMV) to provide autonomous tracking capability. The OMV is equipped with three omnidirectional wheels, which allow the vehicle freely changes its moving direction regardless of the steering constraint. All the tracking control algorithms are developed on the basis of a robust adaptive sliding mode controller (ASMC) framework. The trajectory tracking performance of OMV is therefore ensured by utilizing the ASMC approach, which copes with system uncertainties and unknown external disturbances.
    Besides, in order to let the mobile vehicle own a complete sight around its environment, the vehicle is also supplied with an omnidirectional camera system. For the purpose of object tracking missions, the corresponding image processing techniques for the omnidirectional images are also established to extract the characteristic features of the target object. Through analysis of the image information, the position of the target object can be located in three-dimensional space. Based on this information, the proposed ASMC method is able to calculate suitable control efforts for those three omnidirectional wheels to drive the mobile vehicle towards the target object within a predetermined distance while overcoming possible uncertainties and disturbances.
    Actual tracking experiments including the trajectory tracking and the object tracking are conducted on an experimental omnidirectional mobile vehicle. Three different paths, a square path, an eight shape path, and a circular path, are investigated for trajectory tracking tasks. Comparison of tracking performance using the conventional SMC and the presented ASMC is also made. Experimental results demonstrate the feasibility and effectiveness of the proposed tracking control scheme. Furthermore, the superiority of the presented control method than the SMC is also verified.
    Advisory Committee
  • Chung-Yao Kao - chair
  • Chih-Chiang Cheng - co-chair
  • Kuo-Shen Chen - co-chair
  • Cheng-Yi Chen - co-chair
  • Chi-Cheng Cheng - advisor
  • Files
  • etd-0028115-162950.pdf
  • Indicate in-campus at 99 year and off-campus access at 99 year.
    Date of Submission 2015-01-28

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