저 시 비 리 경 지 2 0 한민 는 아래 조건 르는 경 에 한하여 게 l 저 물 복제, 포, 전송, 전시, 공연 송할 수 습니다 다 과 같 조건 라야 합니다 l 하는, 저 물 나 포 경 , 저 물에 적 된 허락조건 명확하게 나타내[.]
저작자표시-비영리-변경금지 2.0 대한민국 이용자는 아래의 조건을 따르는 경우에 한하여 자유롭게 l 이 저작물을 복제, 배포, 전송, 전시, 공연 및 방송할 수 있습니다 다음과 같은 조건을 따라야 합니다: 저작자표시 귀하는 원저작자를 표시하여야 합니다 비영리 귀하는 이 저작물을 영리 목적으로 이용할 수 없습니다 변경금지 귀하는 이 저작물을 개작, 변형 또는 가공할 수 없습니다 l l 귀하는, 이 저작물의 재이용이나 배포의 경우, 이 저작물에 적용된 이용허락조건 을 명확하게 나타내어야 합니다 저작권자로부터 별도의 허가를 받으면 이러한 조건들은 적용되지 않습니다 저작권법에 따른 이용자의 권리는 위의 내용에 의하여 영향을 받지 않습니다 이것은 이용허락규약(Legal Code)을 이해하기 쉽게 요약한 것입니다 Disclaimer Thesis for the Degree of Doctor of Philosophy Development of Positioning and Trajectory Tracking Controller for Caterpillar Vehicles with Unknown Environment by Van Lanh Nguyen Department of Mechanical Design Engineering The Graduate School Pukyong National University August 2020 Development of Positioning and Trajectory Tracking Controller for Caterpillar Vehicles with Unknown Environment 미지환경에서의 캐터필러차량용 위치결정과 궤도추적 제어기의 개발 by Van Lanh Nguyen Advisor: Professor Sang Bong Kim A thesis submitted in partial fulfillment of the requirements for the degree of Doctor of Philosophy In the Department of Mechanical Design Engineering, The Graduate School, Pukyong National University August 2020 Development of Positioning and Trajectory Tracking Controller for Caterpillar Vehicles with Unknown Environment A dissertation by Van Lanh Nguyen Approved as to styles and contents by: (Chairman) Yeon Wook Choe (Member) Gi Sik Byun (Member) Sea June Oh (Member) Young Bok Kim (Member) Sang Bong Kim June 25th, 2020 Acknowledgments It is a pleasure to express my gratefulness to all the helps and continuous supports from professors, colleagues, friends, and family First of all, I would like to express the most gratitude to Professor Sang Bong Kim for his valuable advice, guidance, and support since my first days studying and living in Korea His kindness, insight supports, the direction and skill of research, and strong motivation encouraged and helped me to accomplish my research and finish this dissertation scientifically I would like to wish my Professor and his family to have the long-lived health and happiness I would like to thank the members of my thesis committee: Prof Yeon Wook Choe, Prof Gi Sik Byun, Prof Sea Jun Oh, and Prof Young Bok Kim who have provided wonderful feedback on my work and great suggestions for better contribution of my dissertation I would like to thank Prof Hak Kyeong Kim for his great helps and advice to research and complete this dissertation I could not finish my dissertation on time without his great help and advice I am grateful to Prof Tan Tien Nguyen, from Ho Chi Minh University of Technology for essential assistances I would like to thank all members of CIMEC Lab for giving me a comfortable and active environment to achieve my work: Dr Dae Hwan Kim, Dr Jotje Rantung, Minh Thien Tran, Sung Won Kim, Chang Kyu Kim, Sung Rak Kim, Dong Yong Kim, Chetan Chunilal Patel, and all other foreign friends i Thanks are due to all members of Vietnamese Students’ Association in Korea, especially Dr Huy Hung Nguyen, Dr Van Tu Duong, Dr Manh Son Tran, Dr Phuc Thinh Doan, Dr Thanh Luan Bui, Thanh An Do, Duc Quan Tran, Van Trong Nguyen for their vigorous support Finally, I would like to thank to my mother, my wife, my brother, my sister, and all my close relatives for their love, endless encouragements for me not only in the dissertation time but also in the whole of my life Pukyong National University, Busan, Korea June 25th, 2020 Nguyen Van Lanh ii Contents Acknowledgments i Contents iii Abstract vii 국문 요약서 x List of Figures xiii List of Tables xvii Abbreviation xix Nomenclatures xx Chapter 1: Introduction 1.1 Background and Motivation 1.1.1 SLAM algorithm based on EKF 1.1.2 Model reference adaptive control 1.1.3 MIMO robust servo control 10 1.2 Problem statements 12 1.3 Objective and researching method 13 1.4 Outline of the dissertation and summary of contributions 16 Chapter 2: System Description and Modeling 21 2.1 Introduction 21 2.2 Mechanical design 21 2.2.1 Top cover 21 iii 2.2.2 Body frame 22 2.2.3 Wheel system 23 2.2.4 Connector 26 2.3 Electrical design 26 2.3.1 Controller 29 2.3.2 Sensors 31 2.3.3 Actuator 38 2.3.4 Power supply and emergency button 44 2.4 System modeling 46 2.4.1 Kinematic modeling 46 2.4.2 Dynamic modeling 53 Chapter 3: Positioning System Based on SLAM Algorithm Using Lidar Sensor 57 3.1 Introduction 57 3.2 Concept of a SLAM 57 3.3 Landmark detection algorithm using Lidar sensor 59 3.4 Positioning algorithm using encoders 63 3.5 Extended Kalman Filter 66 3.5.1 EKF prediction Step 68 3.5.2 EKF update Step 72 3.6 Summary 78 Chapter 4: Trajectory Tracking Controller Design Using a Backstepping Control Method 80 iv 4.1 Introduction 80 4.2 Tracking controller design 80 4.3 Simulation and experimental results 85 4.3.1 Parameters of the tracking controller 85 4.3.2 Estimation global trajectory tracking results 88 4.3.3 Estimation global tracking error results 92 4.3.4 Estimation local tracking error results 95 4.4 Summary 98 Chapter 5: Trajectory Tracking Controller Design Using a Backstepping-based Model Reference Adaptive Control 101 5.1 Introduction 101 5.2 A model reference adaptive controller design 102 5.2.1 Dynamic model 102 5.2.2 Tracking controller design 103 5.3 Simulation and experimental results 109 5.3.1 Parameters of the CV and controller 110 5.3.2 Global trajectory tracking results 111 5.3.3 Global posture tracking error results 114 5.3.4 Local posture tracking error results 116 5.4 Summary 123 Chapter 6: A MIMO Robust Servo Controller Design Using a Linear Shift-Invariant Differential Operator 126 v 6.1 Introduction 126 6.2 Linear shift-invariant differential operator 127 6.2.1 Linear shift-invariant differential operator concept 127 6.2.2 Internal model principle based on LSID operator 134 6.3 MIMO robust servo controller 138 6.4 Simulation and experimental results 147 6.4.1 Parameters of MIMO robust servo controller 148 6.4.2 Simulation results 152 6.4.3 Experimental results 158 6.5 Standard deviation of tracking errors 168 6.6 Summary 170 Chapter 7: Conclusions and Future Works 174 7.1 Conclusions 174 7.2 Future works 183 References 184 Publication and Conference 196 Appendix A The proof of Eqs (3.33), (3.49) (3.50), and (3.58) (3.59) 200 Appendix B The proof of Eq (4.7) and eˆ v as t 208 Appendix C The proof of Eqs (5.13) and (5.18) (5.20) 212 Appendix D The proof of theorem 216 vi ...Thesis for the Degree of Doctor of Philosophy Development of Positioning and Trajectory Tracking Controller for Caterpillar Vehicles with Unknown Environment by Van Lanh Nguyen Department of Mechanical... Eqs (5.13) and (5.18) (5.20) 212 Appendix D The proof of theorem 216 vi Development of Positioning and Trajectory Tracking Controller for Caterpillar Vehicles with Unknown Environment. .. August 2020 Development of Positioning and Trajectory Tracking Controller for Caterpillar Vehicles with Unknown Environment 미지환경에서의 캐터필러차량용 위치결정과 궤도추적 제어기의 개발 by Van Lanh Nguyen Advisor: Professor