能夠同時平移與旋轉是全向移動服務機器人（ODSR）的有利特色，所以在人機協作（例如，語音命令控制，人類跟隨控制）能夠更可靠以及更能夠達到我們所需要的需求。 ODSR的路徑追蹤模型包括機構運動學，每個車輪摩擦的機械動力學以及ODSR和世界坐標之間的轉換以及馬達動力學。為了在有限時間內讓ODSR追蹤想要的姿態，因此設計了自適應有限時間虛擬想要路徑（AFTVDP）。為了使直接輸出在有限時間內追蹤AFTVDP，因此設計了自適應有限時間追蹤控制（AFTTC）以執行高頻運動（例如:時變地面條件、初始姿態未在追蹤軌跡上）。
換言之，本論文所提出的分層自適應有限時間控制（HAFTC）包含AFTVDP和AFTTC。最後透過實驗來驗證了所提出控制的有效性和強健性。

Advantageous feature of omnidirectional driven service robot (ODSR), i.e., simultaneous translation and rotation, the human-robot collaborations (e.g., voice command control, human following control) are more reliable and satisfactory. The path tracking model of an ODSR includes mechanism kinematics, mechanical dynamics with friction of each wheel and transformation between ODSR and world coordinates, and motor dynamics. To track the desired pose of ODSR in finite time, the adaptive finite-time virtual desired path (AFTVDP) is designed. To make the direct output track the AFTVDP in finite time, an adaptive finite-time tracking control (AFTTC) is designed to execute high frequency motions (e.g., time-varying ground conditions, initial misalignment pose).
In summary, the proposed hierarchical adaptive finite-time control (HAFTC) contains AFTVDP, and AFTTC. Finally, experiment validates the effectiveness and robustness of the proposed control.

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