| Summary: | 碩士 === 國立臺灣大學 === 應用力學研究所 === 95 === 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.
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