000			03364nas a2200457 a 4500
005			20260817171015.0
008			230220s2020 th uu m rtt 0| a1eng
035			_a.b12399942
099		9	_aAIT Diss. no.ISE-20-02
100	0		_aPongsakorn Seekhao
245	1	0	_aBalancing control of a bicycle robot using steering and mass-moving stabilization
260			_aPathum Thani, Thailand : _bAsian Institute of Technology, _c2020
300			_a68 p. : _bill.
490	1		_aDissertation ; _vno. ISE-20-02
500			_aA dissertation submitted in partial fulfillment of the requirements for the degree of Doctor of Engineering in Mechatronics, School of Engineering and Technology
502			_aThesis (Ph. D.) - Asian Institute of Technology, 2020
520			_aThis 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	_aBicycles _xEngineering
650		0	_aBicycles _xDesign and construction
650		0	_aElectric vehicles
700	0		_aManukid Parnichkun, _eChairperson
700	0		_aMongkol Ekpanyapong, _eExamination Committee
700	0		_aPoompat Saengudomlert, _eExamination Committee
710	2		_aNational Electronics and Computer Technology Center (NECTEC), Thailand, _eScholarship Donor
710	2		_aRoyal Thai Government Fellowship, _eScholarship Donor
810	2		_aAsian Institute of Technology. _tDissertation ; _vno. ISE-20-02
856	4	0	_3Full-Text _uhttp://203.159.5.9/ait-thesis/detail.php?q=B18327
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