• Title/Summary/Keyword: HAM Simulation

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Stabilization of Attitude for Autonomous Bicycle System Using Sliding Mode Control

  • Park, In-Gyu;Ham, Woon-Chul
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.173.3-173
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    • 2001

  • In this paper, attitude control of autonomous system using bike based on variable structure control is discussed. Variable structure control is more than a promising technique in the field of nonlinear control. It permits the realization of very robust and simple regulators, with appealing sliding mode characteristics especially if the considered dynamics requires a very short sampling time. We derive dynamic equation of it and demonstrate that the designed controller stabilizes attitude simultaneously regardless of wheel position by computer simulation.

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Optimal Output-feedback Control for Discrete-time Linear System with Time-delayed Output (이산시간 선형 시스템의 출력 시간지연을 이용한 최적 출력제어)

  • Jung, Chul-Hwan;Ham, Chang-Shik
    • Proceedings of the KIEE Conference
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    • 1988.07a
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    • pp.909-912
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    • 1988

  • This paper proposed the new control law which is defined by instantaneous output and time delayed output. To analyze the system with time delayed output, the way which transforms output time delayed systems into instantaneous output systems is presented. The output responses were more improved by the new control law then that of the instantaneous output control law. The algorithm for simulation and a numerical example are presented.

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Kinematics and Inverse Kinematics in Unmanned Bicycle System (무인자전거 시스템의 정역학 및 역정역학)

  • Ham, Woon-Chul
    • The Journal of Korea Robotics Society
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    • v.1 no.1
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    • pp.73-80
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    • 2006

  • Bicycle is one of convenient transportation system. In this paper, we derive a more precise kinematics of bicycle system compared with other ones which were suggested by other researchers. In the derivation of kinematics we adopted a physical concept called virtual wheel. We also propose an algorithm for deriving inverse kinematics of a bicycle system. In this paper, the meaning of inverse kinematics is to find the time functions of steering angle and driving wheel speed for a given desired path trajectory. From the computer simulation, we show the validity of our proposed algorithm for inverse kinematics of bicycle system.

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