Structure-specified H∞ loop shaping control for balancing of bicycle robots: A particle swarm optimization approach

In this paper, the particle swarm optimization (PSO) algorithm was used to design the structure-specified H∞ loop shaping controllers for balancing of bicycle robots. The structure-specified H∞ loop shaping controller design normally leads to a complex optimization problem. PSO is an efficient meta-heuristic search which is used to solve multi-objectives and non-convex optimizations. A model-based systematic procedure for designing the particle swarm optimization-based structure-specified H∞ loop shaping controllers was proposed in this research. The structure of the obtained controllers are therefore simpler. The simulation and experimental results showed that the robustness and efficiency of the proposed controllers was gained when compared with the proportional plus derivative (PD) as well as conventional H∞ loop shaping controller. The simulation results also showed a better efficiency of the developed control algorithm compared to the Genetic Algorithm based one

Models for Self-Balancing of Two Wheeled Vehicles: A Review

In this paper, we have studied the various models, techniques and principles of Self-balancing of two wheeled vehicles. Balancing a two-wheeledvehicle has always been a challenging task.The motion dynamics of a bicycle is very different from other vehicles. Unlike four wheeled or three wheeled vehicles, a bicycle lacks lateral stability when stationary, although bicycles are stable when in motion. Experiments and calculations conclude that a bicycle stays upright when it is steered to maintain its center of mass over its wheels. Either the rider steers to balance the bicycle or the bicycle itself balances above a definite velocity. Factors such as gyroscopic effect, centre of mass, mass distribution contribute in self-stability of bicycle. Numerous projects have been proposed keeping in mind the stability of two wheeled vehicles. Some projects use the concept of flywheels[1] while some use two heavy rotating disks for stability [2]. Most of the projects are based on the concept of inverted pendulum [3][4] and use PID controllers [5] to achieve self-stability. Gyroscopic sensors [4][6][7] are used in some projects which detect the angular tilt followed by a motor to achieve balance

Design of an Active-Assistance Balancing Mechanism for a Bicycle

The goal of this project is to design and build a prototype self balancing bicycle for use as a teaching tool for someone learning to ride a bicycle and as means for a disabled person to ride a bicycle who would otherwise not be able to do so. The project consists of a research phase in which similar systems have been investigated to help determine a sensible design approach and to establish appropriate design specifications; a design phase in which a prototype was designed to meet the aforementioned specifications; and a construction phase, in which the prototype was built and tested

Design and Development of a Self-Balancing Bicycle Using Control Moment Gyro

Master'sMASTER OF ENGINEERIN

Application of model reduction for robust control of self-balancing two-wheeled bicycle

In recent years, balance control of two-wheeled bicycle has received more attention of scientists. One difficulty of this problem is the control object is unstable and constantly impacted by noise. To solve this problem, the authors often use robust control algorithms. However, robust controller of self-balancing two-wheeled bicycle are often complex and higher order so affect to quality during real controlling. The article introduces the stochastic balanced truncation algorithm based on Schur analysis and applies this algorithm to reduce order higher order robust controller in control balancing two-wheeled bicycle problem. The simulation results show that the reduced 4th and 5th order controller arcoording to the stochastic balanced truncation algorithm based on Schur analysis can control the two-wheeled bicycle model. The reduced 3rd order controller cannot control the balance of the two-wheeled bicycle model. The reduced 4th and 5th order controller can replace the original controller while the performance of the control system is ensured. Using reduced 5th, 4th order controller will make the program code simpler, reducing the calculation time of the self-balancing two-wheel control system. The simulation results show the correctness of the model reduction algorithm and the robust control algorithm of two-wheeled self-balancing two-wheeled bicycle

Development of a self balanced robot and its controller

Two wheeled balancing robots are based on inverted pendulum configuration which relies upon dynamic balancing systems for balancing and maneuvering. This project is based on the development of a self-balanced two wheeled robot which has a configuration similar to a bicycle. These robot bases provide exceptional robustness and capability due to their smaller size and power requirements. Outcome of research in this field had led to the birth of robots such as Segway, Murata boy etc. Such robots find their applications in surveillance & transportation purpose. Here, in particular, the focus is on the electro-mechanical mechanisms & control algorithms required to enable the robot to perceive and act in real time for a dynamically changing world. Using an Ultrasonic sensor and an accelerometer we get the information about the tilt of the robot from its equilibrium position. Balancing was done using a servo motor, a DC motor and a control momnt gyroscope. While these techniques are applicable to many robot applications, the construction of sensors, filters and actuator system is a learning experience

Control Moment Gyroscope Stabilization and Maneuverability of Inherently Unstable Vehicles and Mobile Robots

The control problem of stabilizing an inherently unstable body, such as the inverted pendulum, is a classic control theory problem. Traditionally, the solution to this problem has been approached through methods of dynamic stabilization where the inverted pendulum is placed on a wheeled cart that can travel with one translational degree of freedom. This cart essentially accelerates the pivot of the inverted pendulum to accelerate the pendulum to induce a rotation that counteracts the imbalance in the system. A different approach to stabilizing a static or stationary inverted pendulum makes use of the intriguing phenomena known as gyroscopic precession. Precession and the physics of gyros are governed by conservation of angular momentum. By utilizing this technology in a novel way, groundbreaking progress can be made in the field of autonomous stability of inherently unstable mobile robots and vehicles (e.g. two wheeled vehicles). Gyroscopic effects can be found today in simple devices such as a spinning top or a bicycle’s wheel in motion. Gyros are also found in very complex mechanisms such as those used for satellite attitude and large ship anti-roll systems. Recent gyro studies have shown tremendous promise for providing unparalleled capabilities in stabilization and maneuverability for both on and off-road vehicle applications.Air Force Research LabSpecial Ops Transport ChallengeThe Ohio State University's Center for Automotive ResearchThe Ohio State University's Control and Intelligent Transportation LaboratoryNo embargoAcademic Major: Mechanical Engineerin

Bicycle Dynamics and Control

In this paper, the dynamics of bicycles is analyzed from the perspective of control. Models of different complexity are presented, starting with simple ones and ending with more realistic models generated from multibody software. Models that capture essential behavior such as self-stabilization as well as models that demonstrate difficulties with rear wheel steering are considered. Experiences using bicycles in control education along with suggestions for fun and thought-provoking experiments with proven student attraction are presented. Finally, bicycles and clinical programs designed for children with disabilities are described

Single wheel robot: gyroscopical stabilization on ground and on incline.

by Loi-Wah Sun.Thesis (M.Phil.)--Chinese University of Hong Kong, 2000.Includes bibliographical references (leaves 77-81).Abstracts in English and Chinese.Abstract --- p.iAcknowledgments --- p.iiiContents --- p.vList of Figures --- p.viiList of Tables --- p.viiiChapter 1 --- Introduction --- p.1Chapter 1.1 --- Motivation --- p.1Chapter 1.1.1 --- Literature review --- p.2Chapter 1.1.2 --- Gyroscopic precession --- p.5Chapter 1.2 --- Thesis overview --- p.7Chapter 2 --- Dynamics of the robot on ground --- p.9Chapter 2.1 --- System model re-derivation --- p.10Chapter 2.1.1 --- Linearized model --- p.15Chapter 2.2 --- A state feedback control --- p.16Chapter 2.3 --- Dynamic characteristics of the system --- p.18Chapter 2.4 --- Simulation study --- p.19Chapter 2.4.1 --- The self-stabilizing dynamics effect of the single wheel robot --- p.21Chapter 2.4.2 --- The Tilting effect of flywheel on the robot --- p.23Chapter 2.5 --- Dynamic parameters analysis --- p.25Chapter 2.5.1 --- Swinging pendulum --- p.25Chapter 2.5.2 --- Analysis of radius ratios --- p.27Chapter 2.5.3 --- Analysis of mass ratios --- p.30Chapter 3 --- Dynamics of the robot on incline --- p.33Chapter 3.1 --- Modeling of rolling disk on incline --- p.33Chapter 3.1.1 --- Disk rolls up on an inclined plane --- p.37Chapter 3.2 --- Modeling of single wheel robot on incline --- p.39Chapter 3.2.1 --- Kinematic constraints --- p.40Chapter 3.2.2 --- Equations of motion --- p.41Chapter 3.2.3 --- Model simplification --- p.43Chapter 3.2.4 --- Linearized model --- p.46Chapter 4 --- Control of the robot on incline --- p.47Chapter 4.1 --- A state feedback control --- p.47Chapter 4.1.1 --- Simulation study --- p.49Chapter 4.2 --- Backstepping-based control --- p.51Chapter 4.2.1 --- Simulation study --- p.53Chapter 4.2.2 --- The effect of the spinning rate of flywheel --- p.56Chapter 4.2.3 --- Simulation study --- p.58Chapter 4.2.4 --- Roll up case --- p.58Chapter 4.2.5 --- Roll down case --- p.58Chapter 5 --- Motion planning --- p.61Chapter 5.1 --- Performance index --- p.61Chapter 5.2 --- Condition of rolling up --- p.62Chapter 5.3 --- Motion planning of rolling Up --- p.65Chapter 5.3.1 --- Method I : Orientation change --- p.65Chapter 5.3.2 --- Method II : Change the initial velocities --- p.69Chapter 5.4 --- Wheel rolls Down --- p.70Chapter 5.4.1 --- Terminal velocity of rolling body down --- p.73Chapter 6 --- Summary --- p.75Chapter 6.1 --- Contributions --- p.75Chapter 6.2 --- Future Works --- p.76Bibliography --- p.7

Development of a Self Balanced Robot & its Controller

Two wheeled balancing robots are based on inverted pendulum configuration which rely upon dynamic balancing systems for balancing and maneuvering. These robot bases provide exceptional robustness and capability due to their smaller size and power requirements. Outcome of research in this field had led to the birth of robots such as Segway, Murata boy etc. Such robots find their applications in surveillance & transportation purpose. This project is based on development of a self balanced two-wheeled robot which has a configuration similar to a bicycle. In particular, the focus is on the electro-mechanical mechanisms & control algorithms required to enable the robot to perceive and act in real time for a dynamically changing world. While these techniques are applicable to many robot applications, the construction of sensors, filters and actuator system is a learning experience