Performance and robustness analysis of balancing control of a bicycle robot by fuzzy sliding mode control | |
| Author | Wongsakorn Pornnutvuttikul |
| Call Number | AIT Thesis no.ISE-09-41 |
| Subject(s) | Sliding mode control Robots--Control systems |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering in Mechatronics, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-09-41 |
| Abstract | The main interesting challenge in the bicycle robot is to control the balancing of the bicycle robot. There are several techniques in order to balance the bicycle robot. In this thesis, we apply gyroscopic effect in order to generate a precession to rque to balance the bicycle. We implement the fuzzy sliding mode controller to control the balancing of the bicycle robot. Fuzzy sliding mode control is composed of the conventional sliding mode control and fuzzy logic. Because of the drawback of the sliding mode control which is the chattering in the control input, we adopt fuzzy logic to vary the gain in the control law in order to attenuate the chattering. For the dynamic used in this thesis, we select Lagrange equation to find the dynamic of the bicycle robot. The dynamic equation is derived when there is no movement of the bicycle. In this thesis, we propose the simulation result and experimental result. The experimental result is conducted on the bicycle robot called "Bicyrobo". From the simulation and experiment, fuzzy sliding mode control can reduce the chattering in the control input while it achieve the robust property and insensitivity to the parameter variation according to the advantage of the conventional sliding mode control. |
| Year | 2009 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-09-41 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun |
| Examination Committee(s) | Afzulpurkar, Nitin V.;Bohez, Erik L.J. |
| Scholarship Donor(s) | Royal Thai Government Fellowship |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2009 |