AI SearchBalancing control of a bicycle robot using steering and mass-moving stabilization (Record no. 10547)
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| 000 -LEADER | |
|---|---|
| fixed length control field | 03364nas a2200457 a 4500 |
| 005 - DATE AND TIME OF LATEST TRANSACTION | |
| control field | 20260817171015.0 |
| 008 - FIXED-LENGTH DATA ELEMENTS--GENERAL INFORMATION | |
| fixed length control field | 230220s2020 th uu m rtt 0| a1eng |
| 035 ## - SYSTEM CONTROL NUMBER | |
| System control number | .b12399942 |
| 099 #9 - LOCAL FREE-TEXT CALL NUMBER (OCLC) | |
| Classification number | AIT Diss. no.ISE-20-02 |
| 100 0# - MAIN ENTRY--PERSONAL NAME | |
| Personal name | Pongsakorn Seekhao |
| 245 10 - TITLE STATEMENT | |
| Title | Balancing control of a bicycle robot using steering and mass-moving stabilization |
| 260 ## - PUBLICATION, DISTRIBUTION, ETC. | |
| Place of publication, distribution, etc. | Pathum Thani, Thailand : |
| Name of publisher, distributor, etc. | Asian Institute of Technology, |
| Date of publication, distribution, etc. | 2020 |
| 300 ## - PHYSICAL DESCRIPTION | |
| Extent | 68 p. : |
| Other physical details | ill. |
| 490 1# - SERIES STATEMENT | |
| Series statement | Dissertation ; |
| Volume/sequential designation | no. ISE-20-02 |
| 500 ## - GENERAL NOTE | |
| General note | A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology |
| 502 ## - DISSERTATION NOTE | |
| Dissertation note | Thesis (Ph. D.) - Asian Institute of Technology, 2020 |
| 520 ## - SUMMARY, ETC. | |
| Summary, etc. | This research focuses on the development of an electric bicycle robot which balances itself while moving at a constant forward speed. The bicycle robot is balanced by applying a pendulum mass moving together with heading steering to share the balancing load. The nonlinear dynamics model of a bicycle along with a pendulum is derived from the Euler-Lagrange equation of motion and nonholonomic constraints with respect to translation and rotation relative to the ground plane. This nonlinear model is then linearized around the upright position and combined with the DC motor model to obtain the completed linearized dynamics model. The robot's prototype is designed and built. The linear quadratic regulator (LQR) is implemented on the system to control its balance. The simulation results show that, by varying the control weighting matrix to increase the use of the pendulum's input, the system obtains better performance in both balancing and straight-line path tracking. In addition, the state weighting matrix can be varied to further improve the path tracking performance while still keeping the stability. Real experimental results are also in line with the simulation results. |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | Bicycles |
| General subdivision | Engineering |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | Bicycles |
| General subdivision | Design and construction |
| 650 #0 - SUBJECT ADDED ENTRY--TOPICAL TERM | |
| Topical term or geographic name entry element | Electric vehicles |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Manukid Parnichkun, |
| Relator term | Chairperson |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Mongkol Ekpanyapong, |
| Relator term | Examination Committee |
| 700 0# - ADDED ENTRY--PERSONAL NAME | |
| Personal name | Poompat Saengudomlert, |
| Relator term | Examination Committee |
| 710 2# - ADDED ENTRY--CORPORATE NAME | |
| Corporate name or jurisdiction name as entry element | National Electronics and Computer Technology Center (NECTEC), Thailand, |
| Relator term | Scholarship Donor |
| 710 2# - ADDED ENTRY--CORPORATE NAME | |
| Corporate name or jurisdiction name as entry element | Royal Thai Government Fellowship, |
| Relator term | Scholarship Donor |
| 810 2# - SERIES ADDED ENTRY--CORPORATE NAME | |
| Corporate name or jurisdiction name as entry element | Asian Institute of Technology. |
| Title of a work | Dissertation ; |
| Volume/sequential designation | no. ISE-20-02 |
| 856 40 - ELECTRONIC LOCATION AND ACCESS | |
| Materials specified | Full-Text |
| Uniform Resource Identifier | <a href="http://203.159.5.9/ait-thesis/detail.php?q=B18327">http://203.159.5.9/ait-thesis/detail.php?q=B18327</a> |
| 907 ## - LOCAL DATA ELEMENT G, LDG (RLIN) | |
| a | .b12399942 |
| b | mnait |
| c | m |
| 902 ## - LOCAL DATA ELEMENT B, LDB (RLIN) | |
| a | 250411 |
| 998 ## - LOCAL CONTROL INFORMATION (RLIN) | |
| Operator's initials, OID (RLIN) | 0 |
| Cataloger's initials, CIN (RLIN) | 230220 |
| First date, FD (RLIN) | m |
| -- | a |
| -- | m |
| -- | 0 |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) | |
| l | mnait |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) | |
| l | mnarc |
| 945 ## - LOCAL PROCESSING INFORMATION (OCLC) | |
| l | mnarc |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | 20-AIT Publication |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | 40-Archives |
| 942 ## - ADDED ENTRY ELEMENTS (KOHA) | |
| Koha item type | 67-Electronic Resource |
| 909 ## - LOCAL ITEMS USED | |
| Barcode | Barcode : 30050121076011 |
| CREATED | CREATED : 2023-02-20 |
| RECORD Id | RECORD # : i13433507 |
| LPATRON | LPATRON : 0 |
| LCHKIN | LCHKIN : - |
| RENEWALS | # RENEWALS : 0 |
| -- | # OVERDUE : 0 |
| -- | IUSE3 : 0 |
| -- | TOT CHKOUT : 0 |
| -- | TOT RENEW : 0 |
| 909 ## - LOCAL ITEMS USED | |
| Barcode | Barcode : 30050121041445 |
| CREATED | CREATED : 2023-02-20 |
| RECORD Id | RECORD # : i1343374x |
| LPATRON | LPATRON : 0 |
| LCHKIN | LCHKIN : - |
| RENEWALS | # RENEWALS : 0 |
| -- | # OVERDUE : 0 |
| -- | IUSE3 : 0 |
| -- | TOT CHKOUT : 0 |
| -- | TOT RENEW : 0 |
| 909 ## - LOCAL ITEMS USED | |
| Barcode | Barcode : - |
| CREATED | CREATED : 2023-02-20 |
| RECORD Id | RECORD # : i13433751 |
| LPATRON | LPATRON : 0 |
| LCHKIN | LCHKIN : - |
| RENEWALS | # RENEWALS : 0 |
| -- | # OVERDUE : 0 |
| -- | IUSE3 : 0 |
| -- | TOT CHKOUT : 0 |
| -- | TOT RENEW : 0 |
| Withdrawn status | Lost status | Damaged status | Not for loan | Home library | Current library | Shelving location | Date acquired | Cost, normal purchase price | Total checkouts | Full call number | Barcode | Date last seen | Copy number | Price effective from | Koha item type |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Available for Loans | Asian Institute of Technology Library | Asian Institute of Technology Library | AIT Publications | 17/08/2026 | 50.00 | AIT Diss. no.ISE-20-02 | 30050121076011 | 17/08/2026 | 1 | 17/08/2026 | 20-AIT Publication | ||||
| Available for Loans | Asian Institute of Technology Library | Asian Institute of Technology Library | Archives | 17/08/2026 | AIT Diss. no.ISE-20-02 | 30050121041445 | 17/08/2026 | 1 | 17/08/2026 | 40-Archives | |||||
| Available for Loans | Asian Institute of Technology Library | Asian Institute of Technology Library | Archives | 17/08/2026 | AIT Diss. no.ISE-20-02 | 17/08/2026 | 17/08/2026 | 67-Electronic Resource |