TY  - SER
AU  - Pongsakorn Seekhao  
AU  - Manukid Parnichkun,
AU  - Mongkol Ekpanyapong,
AU  - Poompat Saengudomlert,
ED  - National Electronics and Computer Technology Center (NECTEC), Thailand,
ED  - Royal Thai Government Fellowship,
TI  - Balancing control of a bicycle robot using steering and mass-moving stabilization 
T2  - Dissertation
PY  - 2020///
CY  - Pathum Thani, Thailand
PB  - Asian Institute of Technology
KW  - Bicycles
KW  - Engineering
KW  - Design and construction
KW  - Electric vehicles
N1  - 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
N2  - 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.
UR  - http://203.159.5.9/ait-thesis/detail.php?q=B18327
ER  -