Structure-Specified H_∞ Loop Shaping Control for Balancing of Bicycle Robots: A Particle Swarm Optimization Approach

Abstract

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.

Reduced order modelling and balancing control of bicycle robot

“…The controllers are of high order and achieve the same results as augmented plants through the application of a Riccati equation approach [15]. Several investigators have used nature-inspired search algorithms to design robust controllers [16][17][18].…”

Dynamical model of a new type of self-balancing tractor-trailer-bicycle

“…Researchers who study self-balancing bicycles with mechanical regulators include Lee [7], Bui [8], Liu [9], Jin [10], Yin [11], Kim [12], etc. These researchers designed mechanical adjusting devices of moving or rotating for their bicycles.…”

Simple realization of balanced motions under different speeds for a mechanical regulator-free bicycle robot

“…Yavin 7 suggested that the symmetric bar or flywheel should not change the mass distribution of his bicycle when it is rotating, so it would be more convenient for maintaining bicycle's balance. Bui et al 8 were also concerned with the flywheel regulator in their design, and what is amazing is that their robot achieved a stable balance with zero moving velocity in a real experiment. Suebsomran 9 proposed upper and lower flywheels in their bicycle robot design.…”