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経路生成形レギュレータによる非ホロノミック車両のフィードバック制御
http://hdl.handle.net/10258/262
http://hdl.handle.net/10258/2620397f2a5-133c-4967-a624-0a4dcb740d9b
名前 / ファイル | ライセンス | アクション |
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kironC_689_120.pdf (603.4 kB)
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Item type | 学術雑誌論文 / Journal Article.(1) | |||||||||||||||||||||||
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公開日 | 2007-10-31 | |||||||||||||||||||||||
タイトル | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
タイトル | 経路生成形レギュレータによる非ホロノミック車両のフィードバック制御 | |||||||||||||||||||||||
タイトル | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
タイトル | Feedback Control of Non-holonomic Mobile Robots by Path-generating Regulator | |||||||||||||||||||||||
言語 | ||||||||||||||||||||||||
言語 | jpn | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | mechatronics and robotics | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | nonlinear control | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | motion control | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | two-wheeled non-holonomic mobile robot | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | path-generating regulator | |||||||||||||||||||||||
キーワード | ||||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
主題Scheme | Other | |||||||||||||||||||||||
主題 | Lyanpunov-based stability analysis | |||||||||||||||||||||||
資源タイプ | ||||||||||||||||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||||||||||||||||
資源タイプ | journal article | |||||||||||||||||||||||
アクセス権 | ||||||||||||||||||||||||
アクセス権 | open access | |||||||||||||||||||||||
アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||||||||||||||||||||
著者 |
高島, 昭彦
× 高島, 昭彦× 橋本, 幸男× 堀, 勝博× 花島, 直彦
WEKO
5812
× 疋田, 弘光
WEKO
381
× 山下, 光久
WEKO
380
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室蘭工業大学研究者データベースへのリンク | ||||||||||||||||||||||||
花島 直彦(HANAJIMA Naohiko) | ||||||||||||||||||||||||
http://rdsoran.muroran-it.ac.jp/html/100000017_ja.html | ||||||||||||||||||||||||
抄録 | ||||||||||||||||||||||||
内容記述タイプ | Abstract | |||||||||||||||||||||||
内容記述 | In this paper, we propose a new control method for two-wheeled non-holonomic mobile robots. Since the non-holonomic mobile robots has non-integrable constraint conditions, it is difficult to derive a control law so that the robots are convergent to the target state. The proposed method designs a nonlinear regulator carrying out asymptotic convergence of non-holonomic mobile robots to a given trajectory family. The trajectory family is chosen so that it passes through the origin and its gradient at the origin is equal to zero. As the result, the mobile robots are convergent to the origin as the target state while generating their path. We name this method Path-generating Regulator. Neither the coordinate transformation nor the input transformation is needed in this method unlike other methods. Global asymptotic regulation property of this method is proven by a Lyapunov-based stability analysis. By numerical simulations and experiments, we show the validity of the proposed method. | |||||||||||||||||||||||
言語 | en | |||||||||||||||||||||||
書誌情報 |
ja : 日本機械学会論文集. C編 巻 70, 号 689, p. 120-126, 発行日 2004-01 |
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出版者 | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
出版者 | 日本機械学会 | |||||||||||||||||||||||
出版者版へのリンク | ||||||||||||||||||||||||
10.1299/kikaic.70.120 | ||||||||||||||||||||||||
https://doi.org/10.1299/kikaic.70.120 | ||||||||||||||||||||||||
DOI | ||||||||||||||||||||||||
関連タイプ | isIdenticalTo | |||||||||||||||||||||||
識別子タイプ | DOI | |||||||||||||||||||||||
関連識別子 | 10.1299/kikaic.70.120 | |||||||||||||||||||||||
論文ID(NAID) | ||||||||||||||||||||||||
関連タイプ | isIdenticalTo | |||||||||||||||||||||||
識別子タイプ | NAID | |||||||||||||||||||||||
関連識別子 | 110006263719 | |||||||||||||||||||||||
日本十進分類法 | ||||||||||||||||||||||||
主題Scheme | NDC | |||||||||||||||||||||||
主題 | 531.38 | |||||||||||||||||||||||
ISSN | ||||||||||||||||||||||||
収録物識別子タイプ | PISSN | |||||||||||||||||||||||
収録物識別子 | 03875024 | |||||||||||||||||||||||
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収録物識別子タイプ | NCID | |||||||||||||||||||||||
収録物識別子 | AN00187463 | |||||||||||||||||||||||
書誌レコードID | ||||||||||||||||||||||||
収録物識別子タイプ | NCID | |||||||||||||||||||||||
収録物識別子 | AA11553029 | |||||||||||||||||||||||
権利 | ||||||||||||||||||||||||
言語 | ja | |||||||||||||||||||||||
権利情報 | 日本機械学会|本文データは学協会の許諾に基づきCiNiiから複製したものである | |||||||||||||||||||||||
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出版タイプ | VoR | |||||||||||||||||||||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||||||||||||
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関連タイプ | isVersionOf | |||||||||||||||||||||||
識別子タイプ | URI | |||||||||||||||||||||||
関連識別子 | http://ci.nii.ac.jp/naid/110006263719 | |||||||||||||||||||||||
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内容記述タイプ | Other | |||||||||||||||||||||||
内容記述 | application/pdf |