@article{oai:muroran-it.repo.nii.ac.jp:00006233,
 author = {高島, 昭彦 and TAKASHIMA, Akihiko and 橋本, 幸男 and HASHIMOTO, Yukio and 堀, 勝博 and HORI, Katsuhiro and HANAJIMA,  Naohiko and 花島, 直彦 and 疋田,  弘光 and HIKITA, Hiromitsu and 山下,  光久 and YAMASHITA, Mitsuhisa},
 issue = {689},
 journal = {日本機械学会論文集. C編},
 month = {Jan},
 note = {application/pdf, 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.},
 pages = {120--126},
 title = {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},
 volume = {70},
 year = {2004},
 yomi = {タカシマ, アキヒコ and ハシモト, ユキオ and ハナジマ, ナオヒコ and ヒキタ, ヒロミツ and ヤマシタ, ミツヒサ}
}