Advanced Particle Swarm Algorithm For Bicycle Robot Balancing Optimization Control Under Constant Speed

The bicycle robot is one of the Single Track Two-wheel robot that its balance control is so important as the forward velocity control. The existing researches on balance control focus on the single-objective control, in reality multiple objectives are required to be considered, that they are not proper for the complicate autonomous control. The multi-objective optimization issue for the bicycle robot with constant forward velocity is studied in this paper. The State-space model is verified based on the nonlinear Euler-Lagrange model. A new fitness function with multiple objectives is proposed for the Advanced Particle Swarm Optimization to tune the gains in the feedback controller. The conventional Lyapunov method is involved in the APSO process. The simulation example prove the validity of the given method in this paper.