General suppression control framework : application in self-balancing robots

Albert KO*, H. Y.K. LAU, T. L. LAU

*Corresponding author for this work

Research output: Book Chapters | Papers in Conference ProceedingsConference paper (refereed)Researchpeer-review

7 Citations (Scopus)


The General Suppression Control Framework (GSCF) is a framework inspired by the suppression hypothesis of the immune discrimination theory. The framework consists of five distinct components, the Affinity Evaluator, Cell Differentiator, Cell Reactor, Suppression Modulator, and the Local Environment. These reactive components, each responsible for a specific function, can generate long-term and short-term influences to other components by the use of humoral and cellular signals. This paper focuses in the design of a control system that aims to balance and navigate a self-balancing robot though obstacles based on the five components in GSCF. The control system demonstrates how simple combination of suppression mechanism can filter and fuses two unstable measurements together to obtain reliable measurement to maintain the balance of a dynamically unstable system. The control system is implemented in a two-wheeled self-balancing robot for its inherited instability can best demonstrate the systems responsiveness to dynamic changes.

Original languageEnglish
Title of host publicationArtificial Immune Systems : 4th International Conference, ICARIS 2005, Banff, Alberta, Canada, August 14-17, 2005. Proceedings
EditorsChristian JACOB, Marcin L. PILAT, Peter J. BENTLEY, Jonathan TIMMIS
Number of pages14
ISBN (Print)9783540281757
Publication statusPublished - 2005
Externally publishedYes
Event4th International Conference on Artificial Immune Systems, ICARIS 2005 - Banff, Alta., Canada
Duration: 14 Aug 200517 Aug 2005

Publication series

NameLecture Notes in Computer Science
ISSN (Print)0302-9743


Conference4th International Conference on Artificial Immune Systems, ICARIS 2005
CityBanff, Alta.


  • Artificial Immune Systems
  • Distributed Control
  • Self-balancing Robots
  • Service Robots


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