My Small-size Bicyrobo – 2010 version


1. General information:

Project title: Balancing Control of Bicycle Robot using Robust and Optimal H2/H Control with Reduced-Order Controllers.

Principle Investigator: Dr. Bui Trung Thanh

Implementing institution: Hung Yen University of Technology and Education

Duration: from 2/2009 to 11/2010 (completed)

2. Objective(s):

  • To design and develop a bicycle robot prototype with a flywheel balancing system which can carry loads with varied weights. The robot can be controlled for balancing even at a stationary position, going forward or backward, and turning left or right.
  • To design, simulate and implement ACO-based reduced-order H2/H controllers for balancing control of the designed bicycle robot.
  • To implement designed controllers using C language programming on the microcontroller ATMEGA128.
  • To evaluate the obtained controllers: Comparison of the proposed controllers with the conventional controllers (PID, full order H2/H controllers) in term of performance, and practicality.

3. Creativeness and innovativeness:

To develop new control algorithms using ACO optimization method

4. Research results:

Developing two new control algorithms:

  • Reduced-order H loop shaping based on ACO applied to balancing control of bicycle robot.
  • Robust and optimal reduced-order mixed H2/H control based on ACO.

5. Products:

  • Robot prototype
  • One international journal (on Journal of Systems and Control Engineering)
  • Two conference papers (Proceeding of the IEICE Workshop on Integrated Circuit Design in Vietnam and Proceeding of The 2010 International Conference on Advanced Technologies for Communications).