03364nas a2200457 a 4500 20260817171015.0 230220s2020 th uu m rtt 0| a1eng .b12399942 AIT Diss. no.ISE-20-02 Pongsakorn Seekhao Balancing control of a bicycle robot using steering and mass-moving stabilization Pathum Thani, Thailand : Asian Institute of Technology, 2020 68 p. : ill. Dissertation ; no. ISE-20-02 A dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology Thesis (Ph. D.) - Asian Institute of Technology, 2020 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. Bicycles Engineering Bicycles Design and construction Electric vehicles Manukid Parnichkun, Chairperson Mongkol Ekpanyapong, Examination Committee Poompat Saengudomlert, Examination Committee National Electronics and Computer Technology Center (NECTEC), Thailand, Scholarship Donor Royal Thai Government Fellowship, Scholarship Donor Asian Institute of Technology. Dissertation ; no. ISE-20-02 Full-Text http://203.159.5.9/ait-thesis/detail.php?q=B18327 .b12399942 mnait m 250411 0 230220 m a m 0 mnait mnarc mnarc 20 40 67 Barcode : 30050121076011 CREATED : 2023-02-20 RECORD # : i13433507 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 Barcode : 30050121041445 CREATED : 2023-02-20 RECORD # : i1343374x LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 Barcode : - CREATED : 2023-02-20 RECORD # : i13433751 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 10547 10547 0 0 0 0 MAIN MAIN mnait 2026-08-17 50.00 0 AIT Diss. no.ISE-20-02 30050121076011 2026-08-17 17:10:15 1 2026-08-17 20 0 0 0 0 MAIN MAIN mnarc 2026-08-17 0 AIT Diss. no.ISE-20-02 30050121041445 2026-08-17 17:10:15 1 2026-08-17 40 0 0 0 0 MAIN MAIN mnarc 2026-08-17 0 AIT Diss. no.ISE-20-02 2026-08-17 17:10:15 2026-08-17 67