제어로봇시스템학회:학술대회논문집
- 2001.10a
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- Pages.173.3-173
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- 2001
Stabilization of Attitude for Autonomous Bicycle System Using Sliding Mode Control
- Park, In-Gyu (Chonbuk National University) ;
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Ham, Woon-Chul
(Chonbuk National University)
- Published : 2001.10.01
Abstract
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.
Keywords