{"created":"2023-06-19T10:27:18.845683+00:00","id":6233,"links":{},"metadata":{"_buckets":{"deposit":"403478b8-e7c1-4590-bd4d-e533f176173d"},"_deposit":{"created_by":18,"id":"6233","owners":[18],"pid":{"revision_id":0,"type":"depid","value":"6233"},"status":"published"},"_oai":{"id":"oai:muroran-it.repo.nii.ac.jp:00006233","sets":["216:239","46"]},"author_link":["5812","44577","381","44576","44634","380"],"item_79_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2004-01","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"689","bibliographicPageEnd":"126","bibliographicPageStart":"120","bibliographicVolumeNumber":"70","bibliographic_titles":[{"bibliographic_title":"日本機械学会論文集. C編","bibliographic_titleLang":"ja"}]}]},"item_79_description_23":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_79_description_7":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_79_link_17":{"attribute_name":"出版者版へのリンク","attribute_value_mlt":[{"subitem_link_text":"10.1299/kikaic.70.120","subitem_link_url":"https://doi.org/10.1299/kikaic.70.120"}]},"item_79_link_5":{"attribute_name":"室蘭工業大学研究者データベースへのリンク","attribute_value_mlt":[{"subitem_link_text":"花島 直彦（HANAJIMA Naohiko）","subitem_link_url":"http://rdsoran.muroran-it.ac.jp/html/100000017_ja.html"}]},"item_79_publisher_11":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"日本機械学会","subitem_publisher_language":"ja"}]},"item_79_relation_15":{"attribute_name":"論文ID（NAID）","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"110006263719","subitem_relation_type_select":"NAID"}}]},"item_79_relation_18":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"10.1299/kikaic.70.120","subitem_relation_type_select":"DOI"}}]},"item_79_relation_22":{"attribute_name":"主となる版","attribute_value_mlt":[{"subitem_relation_type":"isVersionOf","subitem_relation_type_id":{"subitem_relation_type_id_text":"http://ci.nii.ac.jp/naid/110006263719","subitem_relation_type_select":"URI"}}]},"item_79_rights_19":{"attribute_name":"権利","attribute_value_mlt":[{"subitem_rights":"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","subitem_rights_language":"ja"}]},"item_79_source_id_12":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"03875024","subitem_source_identifier_type":"PISSN"}]},"item_79_source_id_14":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00187463","subitem_source_identifier_type":"NCID"},{"subitem_source_identifier":"AA11553029","subitem_source_identifier_type":"NCID"}]},"item_79_subject_9":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"531.38","subitem_subject_scheme":"NDC"}]},"item_79_version_type_21":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open 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Katsuhiro","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[{}],"affiliationNames":[{},{}]}],"creatorNames":[{"creatorName":"HANAJIMA,  Naohiko","creatorNameLang":"en"},{"creatorName":"花島, 直彦","creatorNameLang":"ja"},{"creatorName":"ハナジマ, ナオヒコ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[{}],"affiliationNames":[{},{}]}],"creatorNames":[{"creatorName":"疋田,  弘光","creatorNameLang":"ja"},{"creatorName":"ヒキタ, ヒロミツ","creatorNameLang":"ja-Kana"},{"creatorName":"HIKITA, Hiromitsu","creatorNameLang":"en"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{}]},{"creatorAffiliations":[{"affiliationNameIdentifiers":[{}],"affiliationNames":[{},{}]}],"creatorNames":[{"creatorName":"山下,  光久","creatorNameLang":"ja"},{"creatorName":"ヤマシタ, ミツヒサ","creatorNameLang":"ja-Kana"},{"creatorName":"YAMASHITA, Mitsuhisa","creatorNameLang":"en"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2016-02-15"}],"displaytype":"detail","filename":"kironC_689_120.pdf","filesize":[{"value":"603.4 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"kironC_689_120.pdf","objectType":"fulltext","url":"https://muroran-it.repo.nii.ac.jp/record/6233/files/kironC_689_120.pdf"},"version_id":"e0ea4287-0d8f-4a83-b438-7be95ef7793b"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"mechatronics and robotics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"nonlinear control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"motion control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"two-wheeled non-holonomic mobile robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"path-generating regulator","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Lyanpunov-based stability analysis","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"journal article","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_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","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_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","subitem_title_language":"ja"},{"subitem_title":"Feedback Control of Non-holonomic Mobile Robots by Path-generating 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