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平面宇宙ロボットの滑らかな時不変フィードバック制御
http://hdl.handle.net/2297/28570
http://hdl.handle.net/2297/28570d70fa6a9-1018-4ebe-8db9-5ebf0ba224df
名前 / ファイル | ライセンス | アクション |
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TE-PR-SENDA-K-399.pdf (3.1 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2017-10-03 | |||||
タイトル | ||||||
タイトル | 平面宇宙ロボットの滑らかな時不変フィードバック制御 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Control of Planar Space Robots Using Smooth and Time-Invariant Feedback | |||||
言語 | ||||||
言語 | jpn | |||||
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 | |||||
著者 |
ムカジー, ランジャン
× ムカジー, ランジャン× 掃部, 雅幸× 泉田, 啓 |
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書誌情報 |
日本ロボット学会誌 = Journal of the Robotics Society of Japan 巻 16, 号 3, p. 399-406, 発行日 1998-04-15 |
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ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0289-1824 | |||||
NCID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AN00141189 | |||||
出版者 | ||||||
出版者 | 日本ロボット学会 = The Robotics Society of Japan | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | In this paper we address the problem of reconfiguration of a freely floating planar space robot. Such a system is nonholonomic in nature due to the conservation of its angular momentum. This paper presents a smooth and time-invariant feedback control strategy that asymptotically converges the system states from practically any configuration to the desired configuration. The controller does not render the desired configuration asymptotically stable in the sense of Lyapunov but suffers from no convergence problem. The control strategy, though time-invariant, uses a nonlinear oscillator and extends the concept of geometric phase to control. In certain situations the controller has a slow rate of convergence but this problem can be easily rectified by simple modifications, as suggested in this paper. A stability analysis of the closed loop system using the original controller is only presented but results of numerical simulation indicate that both the modified controllers as well as the original controller can converge the system states to their desired values satisfactorily. | |||||
権利 | ||||||
権利情報 | Copyright© 社団法人 日本ロボット学会 | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://www.rsj.or.jp/index.html | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | http://ci.nii.ac.jp/naid/10007441618 | |||||
関連URI | ||||||
識別子タイプ | URI | |||||
関連識別子 | https://japanlinkcenter.org/JST.Journalarchive/jrsj1983/16.399 |