Balancing control of a bicycle robot by centrifugal force | |
| Author | Pranartpol Pongpaew |
| Call Number | AIT Thesis no.ISE-10-40 |
| Subject(s) | Centrifugal force Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-10-40 |
| Abstract | The main challenge of balancing bicycle robot is to control the bicycle robot without falling down when moving forward and on the curvature path. There are three main balancing techniques to balance a bicycle without falling down; COG control, gyroscopic effect and centrifugal force. Each of them has different advantages and disadvantages. For moving forward, the balancing technique by using centrifugal force is the best choice because it can control with higher speed than others. This technique has to control steering angle and speed of the bicycle. For the controller, we applied LQR controller which is the kind of the optimization of the control system and Fuzzy Sliding Mode Control (FSMC) controller which is the kind of the robustness controller to control this dynamics system. The bicycle dynamics or model of bicycle robot is considered by the derivative of angular momentum and the torques which come from the gravity force and the centrifugal force. In this thesis, we propose the result of simulations and experiments by using centrifugal force technique with LQR and FSMC controller. From the experiment result, the bicycle robot able to be controlled in upright position more than 30 seconds with forward speed around 10 km/h. |
| Year | 2010 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-10-40 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Mongkol Ekpanyapong;Bohez, Erik L.J. |
| Scholarship Donor(s) | Thailand (HM King) |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2010 |