Segway has been a popular production as an alternative transporter since its invention at the end of 20th century. Millions of people like for its ergonomic design and high-tech elements. It is predicted to be an innovational product to change a person's life style. This thesis focuses on building a simple low cost, home-made Segway style scooter. This project uses two electric scooter motors, two 12V car batteries, one accelerometer and several microprocessors to build up the whole system. Significantly, this project also explains how to build a Brushed Direct Current (BDC) motor driver with a rated output power of more than 350W and the capability of coping with up to 120A transient peak current and up to 40A continuous current. Four-quadrant operation and eight modes of DC motor operation are discussed. A mathematical model of the Segway style scooter is also introduced in details. This including the modelling of a BDC motor, a two-wheeled inverted pendulum and their combination. The linearization of these models is used. At the end the linearized model is simulated in computer software.

This study proposes an application design for Stewart platform. The Stewart platform is selected to function as a mass center adjusting mechanism. The mechanism is attached to the chassis of a coaxial two-wheeled self-balancing car so that the mass center of the car can be shifted backward and forward to change the car speed. Besides, the mechanism can be applied to adjust the contacting forces between wheels and the ground if the mass center is shifted to the left and right of the car. In order to verify the feasibility of the design, the dynamic behavior of the car and the designing requirements for the Stewart platform are examined by using dynamic simulations on both sagittal plane and coronal plane. Therefore, the equation of motion of the car is derived from Lagrange mechanics. The driving torques to the wheels for balancing control, velocity control, and direction control are all determined by PID controllers. An algorithm for determining the displacement, that the mass center should be shifted to prevent losing contact force between wheels and the ground, is also introduced. The results of dynamic simulation show that the proposed application is feasible. Designing requirements for synthesizing the dimensions of the adjusting mechanism are also determined from the simulations. Finally, the dimensions of the desired Stewart platform are determined according to the designing requirements. The workspace of the Stewart platform is then investigated by inversed kinematic analysis method. Since the workspace includes the necessary space for the proposed application, which means the specified dimensions of the Stewart platform is valid.

La vitesse représente un enjeu de sécurité routière majeur et constitue l’un des principaux facteurs de risque retrouvé dans l’accidentalité et l’aggravation des blessures des conducteurs de deux-roues motorisés (2RM). Les campagnes de prévention routière ayant recours à la communication persuasive s’attachent à modifier l’attitude des usagers de la route dans le but d’impacter le comportement mais ses effets sont contrastés. Considérer la force de l’attitude des conducteurs de 2RM à l’égard de la vitesse permet de rendre compte des limites de la persuasion et suggère l’adoption d’une méthodologie alternative basée sur un renouveau paradigmatique. L’articulation des connaissances accumulées dans le champ de la communication persuasive et des enseignements tirés de la théorie de l’engagement ont donné lieu à l’émergence et le développement d’une nouvelle approche combinatoire. La communication engageante propose de faire précéder l’exposition à un message persuasif de la réalisation d’un acte peu coûteux et systématiquement accepté de la part de tous les individus. L’optimisation de ce protocole consiste à déterminer l’acte préparatoire et le message persuasif permettant d’accroître le taux d’acceptation de la requête cible problématique. L’ensemble de notre programme de recherches tend à confirmer l’efficacité supérieure de la communication engageante face à la communication persuasive au regard de nombreux critères : intention, amplitude comportementales et comportements auto-déclarés. La communication engageante semble par ailleurs attester de son influence sur les comportements effectifs de vitesse sinon relatifs au style de conduite des motocyclistes. / Speed is a major road safety issue and is identified as one of the main risk factors for accident rate and aggravation of two-wheelers drivers (2WD) injuries. Road safety campaigns resorting persuasive communication which seeks to change the attitude of road users in order to impact behaviour showed contrasting effects. Considering the strength of 2W drivers' attitudes towards speed allows reporting on the limitations of persuasion which encouraged a paradigmatic renewal through the adoption of an alternative methodology.The articulation of knowledge accumulated in the field of persuasive communication with that of the insights drawn from the theory of commitment has given rise to the development of a new combinatorial approach. The binding communication proposes to precede the exhibition with a persuasive message of an inexpensive and systematically accepted act by all individuals. The optimization of this protocol consists in determining the preparatory act and persuasive message making it possible to increase the acceptance rate of the problematic target request.Overall, our research studies tend to confirm the superior effectiveness of binding communication over the persuasive communication with regards to many criteria: intention, behavioral amplitude and self-reported behaviors. Besides, the binding communication seems to attest to its influence on actual speed behavior, if not related to riding style of motorcyclists.

Cooperative control of multi-agent systems (MASs) has been intensively investigated in the past decade. The task is always complicated for an individual agent, but can be achieved by collectively operating a group of agents in a reliable, economic and efficient way. Although a lot of efforts are being spent on improving MAS performances, much progress has yet to be developed on different aspects. This thesis aims to solve problems in the consensus control of multiple quadrotors and/or mobile robots considering irregular sampling controls, heterogeneous agent dynamics and the presence of model uncertainties and disturbances. The thesis proceeds with Chapter 1 by providing the literature review of the state-of-the-art development in the consensus control of MASs. Chapter 2 introduces experimental setups of the laboratory involving two-wheeled mobile robots (2WMRs), quadrotors, positioning systems and inter-vehicle communications. All of the developed theoretical results in Chapters 3-6 are experimentally verified on the platform. Then it is followed by two main parts: Irregular sampling consensus control methods (Chapter 3 and 4) and cooperative control of heterogeneous MASs (Chapter 5 and 6). Chapter 3 focuses on the non-uniform sampling consensus control for a group of 2WMRs, and Chapter 4 studies the event-based rendezvous control for a group of asynchronous robots with time-varying communication delays. Chapter 5 concentrates on cooperative control methods for a heterogeneous MAS consisting of quadrotors and 2WMRs. Chapter 6 focuses on the design of a quadrotor flight controller which is robust to various adverse factors such as model uncertainties and external disturbances. The developed controller is further applied to the consensus control of the heterogeneous MAS. Specifically, Chapter 3 studies synchronized and non-periodical sampling consensus control methods for a group of 2WMRs. The directed and switching communication topologies among the network are considered in the controller design. The 2WMR is an underactuated system, which implies that it can not generate independent x and y accelerations in the two-dimensional plane. The rendezvous control methods are proposed for 2WMRs. The algebraic graph theory and stochastic matrix analysis are employed to conduct the convergence analysis. Although the samplings in the work of Chapter 3 are aperiodic, one feature is that local clocks of agents are required to be synchronized. Challenges arise in the practical control of distributed MASs, especially in the scenario that the global clock is lacking. Moreover, frequent samplings can result in redundant information transmissions when the communication bandwidth is limited. To address these problems, Chapter 4 investigates an event-based rendezvous control method for a group of asynchronous MAS with time-varying communication delays. Integral-type triggering conditions for each robot are adopted to be checked periodically. If the triggering condition is satisfied at one checking instant, the agent samples and broadcasts the state to the neighbors with a bounded communication delay. Then an algorithm is provided for driving 2WMRs to asymptotically reach rendezvous. The convergence analysis is conducted through Lyapunov approaches. Most of the theoretical works on cooperative control are focused on controlling agents with identical dynamics. However, in certain realistic scenarios, some complex missions require the cooperation of different types of agent dynamics such as surveillance, search and rescue, etc. Tasks can be carried out with higher efficiency by employing both the autonomous ground vehicles and unmanned aerial vehicles. To achieve better performance for MASs, in Chapter 5, distributed cooperative control methods for a heterogeneous MAS consisting of quadrotors and 2WMRs are developed. Consensus conditions are provided, and the theoretical results are experimentally verified. Many existing quadrotor control methods need exact model parameters of the quadrotor. In reality, when a quadrotor is conducting some tasks with extra payloads or with unexpected damages to the model structure, errors in parameters could result in the failure of the flight. External disturbances also inevitably affect the flight performance. To move a step further towards practical applications, in Chapter 6, a robust quadrotor flight controller using Integral Sliding Mode Control (ISMC) technique is investigated. In experiments, an extra payload with the position and mass unknown, is attached to destroy the accuracy of the model and to add disturbances. The designed controller significantly rejects negative effects caused by the payload during the flight. This controller is also successfully applied to an MAS consisting of a quadrotor and 2WMRs. / Graduate

There is a need for smaller and more economic transportation systems. Two-wheeled inverted-pendulum machines, such as the Segway, have been proposed to address this need. However, the Segway places the operator on top of a naturally unstable platform that is stabilized by means of a control system. The control stability of the Segway can be severely affected when minor disturbances or unanticipated conditions arise. In this thesis, a dynamic model of a Segway is developed and used in simulations of various conditions that can arise during normal use. The dynamic model of a general two-wheeled inverted pendulum and human rider is presented. Initial estimates of the parameters were calculated or obtained from other references. The results from numerous experiments are presented and used to develop a better understanding of the dynamics of the vehicle. The experimental data was then used to adjust the model parameters to match the dynamics of a real Segway Human Transporter. Finally, the model was used to simulate various failure conditions. The simulations provide a better understanding of how these conditions arise, and help identify which parameters play an important role in their outcome.

The work deals with the design of an urban two-wheeled electric vehicle. The final product excels in simple shaping, a unique design solution and the possibility of tilting the saddle. Another interesting element is the possibility of extending the range using an additional battery or connecting to a mobile phone. With its features, the concept stands on the border of electric motorbikes, scooters and bicycles.

This thesis presents the design, construction, and control of a two-wheeled inverted pendulum (TWIP) robotic walker prototype for assisting mobility-impaired users with balance and fall prevention. A conceptual model of the robotic walker is developed and used to illustrate the purpose of this study. A linearized mathematical model of the two-wheeled system is derived using Newtonian mechanics. A control strategy consisting of a decoupled LQR controller and three state variable controllers is developed to stabilize the platform and regulate its behavior with robust disturbance rejection performance. Simulation results reveal that the LQR controller is capable of stabilizing the platform and rejecting external disturbances while the state variable controllers simultaneously regulate the system’s position with smooth and minimum jerk control. A prototype for the two-wheeled system is fabricated and assembled followed by the implementation and tuning of the control algorithms responsible for stabilizing the prototype and regulating its position with optimal performance. Several experiments are conducted, confirming the ability of the decoupled LQR controller to robustly balance the platform while the state variable controllers regulate the platform’s position with smooth and minimum jerk control.

Táto práca sa zaoberá vývojom, testovaním a implementáciou adaptívneho riadiaceho systému pre dvojkolesové samobalancujúce vozidlo. Adaptácia parametrov vozidla sa uskutoční na základe parametrov vodiča. Parametre sústavy sa nemerajú priamo, ale sú odhadované na základe priebehu stavových premenných a odozvy sústavy. Medzi odhadované parametre patrí hmotnosť a poloha ťažiska vodiča. Cieľom práce je zabezpečiť adaptáciu jazdných vlastností vozidla k rôznym vodičom s rôznou hmotnosťou, kvôli zlepšeniu stability vozidla. Táto práca je pokračovaním predchádzajúcich projektov z roku 2011 a 2015.

This diploma thesis deals with a design and construction of a two-wheeled mobile robot. In order to prepare a high-quality project, a testing carriage has been constructed serving as a basis of useful information for the final design and construction. Beside introduction and conclusion, the diploma thesis consists of four main parts. While the first part of the thesis briefly introduces the field of robotics, the theoretical part focuses both on particular components necessary for the robot's construction as well as the Segway vehicle which served as an inspiration for the robot's functionality. After characteristics of a testing carriage, attention is devoted to individual methods of stabilization, with several different types of sensors being used. Furthermore, the chapter on mechanical design examines choice of devices and their position and provides a scheme for their construction. The electrical design follows afterwards, describing circuits that were considered optimal for the designed wiring. The forth part of the diploma thesis concentrates on the construction of a two-wheeled carriage and covers following topics: construction of mechanical components, production of electric boards, programmatic equipment of the carriage and its implementation, testing of the carriage and finally also an evaluation of achieved results.

This report presents the construction of a two-wheeled self balancing robot with the ability to handle an uneven load. Two-wheeled self-balancing robots have proven to be a potential solution to the problem of efficient warehouse management, thanks to their ability to navigate tight spaces quickly and efficiently while balancing their load. The research questions defined include the ability to develop an algorithm to dynamically adjust the robot’s tilt angle, how an uneven load affects the robot’s stability, and whether a PID controller is sufficient in this context. The project was limited to constructing a prototype that could balance with an external load, with a budget of 1,000 Swedish kronor and a four-month timeframe. By testing and evaluating different control algorithms, the robot’s performance was presented in terms of stability and efficiency. The implementation of PID control was successful, and the robot was able to balance as a result. However, the goal of handling an uneven load was not met without the implementation of an additional algorithm to dynamically adjust the robot’s tilt angle. With these two control techniques, the robot was able to balance with and without an added load with good stability. To evaluate performance, tests were performed with the load placed centered and off-centered on the robot’s top plate. The results of the tests showed that the robot was able to dynamically adjust its tilt angle to balance with added weight without affecting stability. / Denna rapport presenterar konstruktionen av en tvåhjulig självbalanserande robot med förmågan att hantera snedfördelad last. Tvåhjuliga självbalanserande robotar har visat sig vara en potentiell lösning på problemet kring effektiv lagerhantering tack vare deras förmåga att hantera snäva utrymmen på ett snabbt och energieffektivt sätt samtidigt som lasten balanseras. Forskningsfrågorna som definierades inkluderar möjligheten att framställa en algoritm för att dynamiskt ställa in robotens lutningsvinkel, hur ojämn last påverkar robotens stabilitet, och om en PID-kontroller är tillräcklig i detta sammanhang. Projektet begränsades till att konstruera en prototyp som klarar av att balansera med extern last, med en budget på 1000 svenska kronor och en tidsram på fyra månader. Genom att testa och utvärdera olika kontrollalgoritmer presenterades robotens prestanda i termer av stabilitet och effektivitet. Roboten balanserade tack vare implementeringen av PID-reglering, men önskemålet om snedfördelad last uppfylldes inte och det krävdes ytterligare en algoritm för att dynamiskt reglera robotens lutningsvinkel. Med hjälp av dessa två reglertekniker kunde roboten balansera både med och utan adderad last med god stabilitet. Tester utfördes för att utvärdera prestandan när lasten var placerad både centrerat och ocentrerat på robotens topplatta. Resultaten visade att roboten kan dynamiskt anpassa lutningsvinkeln för att balansera med tillagd vikt utan att stabiliteten påverkas.