By KYUHYONG YOU University of Florida（通过KYUHYONG你佛罗里达大学）.pdf

THE CONTROL SYSTEM DESIGN OF AN OMNI-DIRECTIONAL VEHICLE PLATFORM By KYUHYONG YOU A THESIS PRESENTED TO THE GRADUATE SCHOOL OF THE UNIVERSITY OF FLORIDA IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF MASTER OF SCIENCE UNIVERSITY OF FLORIDA 2009 1 漏 2009 Kyuhyong You 2 To my mom and father 3 ACKNOWLEDGMENTS I would like to express my deepest thanks and gratitude to my advisor, Prof. Carl Crane, for his invaluable support, supervision and advice for this research project. His guidance and provision lead this thesis to become successful. I would like to thank Prof. Antonio Arroyo for helping me to pursue my interest in robotics and become my committee. Without his advice, I would not have a chance to start this research. Thanks also go to the rest of my committee Prof. Scott Banks for his interest in my research project. I am also grateful to Shannon Ridgway for his technical support and practical advice throughout the development and testing of this project. I thanks to all my fellow students at the Center for Intelligent Machines and Robotics for their help and friendships. I would never forget the time I shared with them. Lastly, I would like to thank my parents, Miyong Oh and Keunoh You, for their endless support and love throughout my life. I thank my brother, Sunhyong, for his care and support. I would also like to thank my friends Seokkeun Kim, Sangwook Park and M. Park for their friendships and encouragements. 4 TABLE OF CONTENTS