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Development of a Self-Balancing Human Transportation Vehicle for the Teaching of Feedback Control | IEEE Journals & Magazine | IEEE Xplore

Development of a Self-Balancing Human Transportation Vehicle for the Teaching of Feedback Control


Abstract:

Control systems education often needs to design interesting hands-on exercises that keep students interested in the control theory presented in lectures. These exercises ...Show More

Abstract:

Control systems education often needs to design interesting hands-on exercises that keep students interested in the control theory presented in lectures. These exercises include system modeling, system analyses, controller syntheses, implementation, experimentation, and performance evaluation of a control system. This paper presents an interesting pedagogical tool, a self-balancing human transportation vehicle (HTV), for the teaching of feedback control concepts in undergraduate electrical, mechatronic, and mechanical engineering environments. Such a pedagogical tool can be easily and inexpensively constructed using low-tech commercial components and feedback control approaches. The effectiveness and performance of the proposed HTV system are examined by conducting several experiments on three different terrains. An education process, together with a pedagogical method, is presented to show how the developed HTV can be incorporated into the laboratory course. To increase students' hands-on experience and keep them interested in learning feedback control, this study also investigated how the enrolled students responded to this new pedagogical tool. This education method along with the HTV system is shown to be significantly effective in helping students to understand feedback control theory and practices, and also to result in more motivated and active learning.
Published in: IEEE Transactions on Education ( Volume: 52, Issue: 1, February 2009)
Page(s): 157 - 168
Date of Publication: 09 December 2008

ISSN Information:

Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan
Department of Electrical Engineering, National Chin Yi University of Technology, Taichung, Taiwan
Shui-Chun Lin received the B.S. degree in electronic engineering from National Taiwan University of Science and Technology, Taipei, Taiwan, in 1988, the M.S. degree in electrical engineering from National Chung-Hsing University, Taichung, Taiwan, in 2002.
He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, National Chung-Hsing University. Since 1991, he has been a senior lecturer ...Show More
Shui-Chun Lin received the B.S. degree in electronic engineering from National Taiwan University of Science and Technology, Taipei, Taiwan, in 1988, the M.S. degree in electrical engineering from National Chung-Hsing University, Taichung, Taiwan, in 2002.
He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, National Chung-Hsing University. Since 1991, he has been a senior lecturer ...View more
Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan
Ching-Chih Tsai (S'90–M'91–SM'00) received the Diplomat degree in electrical engineering from the National Taipei Institute of Technology, Taipei, Taiwan, the M.S. degree in control engineering from National Chiao-Tung University, Hsinchu, Taiwan, and the Ph.D. degree in electrical engineering from Northwestern University, Evanston, IL, in 1981, 1986, and 1991, respectively.
Currently, he is a Professor with the Department...Show More
Ching-Chih Tsai (S'90–M'91–SM'00) received the Diplomat degree in electrical engineering from the National Taipei Institute of Technology, Taipei, Taiwan, the M.S. degree in control engineering from National Chiao-Tung University, Hsinchu, Taiwan, and the Ph.D. degree in electrical engineering from Northwestern University, Evanston, IL, in 1981, 1986, and 1991, respectively.
Currently, he is a Professor with the Department...View more

Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan
Department of Electrical Engineering, National Chin Yi University of Technology, Taichung, Taiwan
Shui-Chun Lin received the B.S. degree in electronic engineering from National Taiwan University of Science and Technology, Taipei, Taiwan, in 1988, the M.S. degree in electrical engineering from National Chung-Hsing University, Taichung, Taiwan, in 2002.
He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, National Chung-Hsing University. Since 1991, he has been a senior lecturer with the Department of Electronic Engineering, National Chin-Yi University of Technology, Taichung. His current research interests include nonlinear Control, adaptive control, sliding mode control, and their applications to mechatronics and mobile robots.
Shui-Chun Lin received the B.S. degree in electronic engineering from National Taiwan University of Science and Technology, Taipei, Taiwan, in 1988, the M.S. degree in electrical engineering from National Chung-Hsing University, Taichung, Taiwan, in 2002.
He is currently working toward the Ph.D. degree with the Department of Electrical Engineering, National Chung-Hsing University. Since 1991, he has been a senior lecturer with the Department of Electronic Engineering, National Chin-Yi University of Technology, Taichung. His current research interests include nonlinear Control, adaptive control, sliding mode control, and their applications to mechatronics and mobile robots.View more
Department of Electrical Engineering, National Chung Hsing University, Taichung, Taiwan
Ching-Chih Tsai (S'90–M'91–SM'00) received the Diplomat degree in electrical engineering from the National Taipei Institute of Technology, Taipei, Taiwan, the M.S. degree in control engineering from National Chiao-Tung University, Hsinchu, Taiwan, and the Ph.D. degree in electrical engineering from Northwestern University, Evanston, IL, in 1981, 1986, and 1991, respectively.
Currently, he is a Professor with the Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan.
Dr. Tsai served as Chair of the Taipei chapter, IEEE Control Systems Society, from 2001 to 2003, and, from 2003 to 2005, he served as the Director of the Centre for Research Development and Engineering Technology, College of Engineering, National Chung-Hsing University. In 2006, he served as Chair of the Taipei chapter, IEEE Robotics and Automation Society, and Director of the Centre for Advanced Industry Technology and Precision, National Chung-Hsing University. Since 2007, he has been Chair of the Taichung chapter, the Chinese Institute of Engineers.
Ching-Chih Tsai (S'90–M'91–SM'00) received the Diplomat degree in electrical engineering from the National Taipei Institute of Technology, Taipei, Taiwan, the M.S. degree in control engineering from National Chiao-Tung University, Hsinchu, Taiwan, and the Ph.D. degree in electrical engineering from Northwestern University, Evanston, IL, in 1981, 1986, and 1991, respectively.
Currently, he is a Professor with the Department of Electrical Engineering, National Chung-Hsing University, Taichung, Taiwan.
Dr. Tsai served as Chair of the Taipei chapter, IEEE Control Systems Society, from 2001 to 2003, and, from 2003 to 2005, he served as the Director of the Centre for Research Development and Engineering Technology, College of Engineering, National Chung-Hsing University. In 2006, he served as Chair of the Taipei chapter, IEEE Robotics and Automation Society, and Director of the Centre for Advanced Industry Technology and Precision, National Chung-Hsing University. Since 2007, he has been Chair of the Taichung chapter, the Chinese Institute of Engineers.View more
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