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Washout Control for Manual Operations
https://doi.org/10.24517/00009545
https://doi.org/10.24517/000095459ab38b5e-dcbd-43c9-989e-e6de925ea373
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
TE-PR-YAMAMOTO-S-1561.pdf (262.1 kB)
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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 | Washout Control for Manual Operations | |||||||
| 言語 | ||||||||
| 言語 | eng | |||||||
| 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 | |||||||
| ID登録 | ||||||||
| ID登録 | 10.24517/00009545 | |||||||
| ID登録タイプ | JaLC | |||||||
| 著者 |
Takimoto, Takashi
× Takimoto, Takashi× Yamamoto, Shigeru× Oku, Hiroshi |
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| 著者別表示 |
山本, 茂
× 山本, 茂
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| 提供者所属 | ||||||||
| 内容記述タイプ | Other | |||||||
| 内容記述 | 金沢大学融合研究域融合科学系 | |||||||
| 書誌情報 |
Proceedings of the European Control Conference 2007 p. 1561-1566, 発行日 2007-07-01 |
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| ISBN | ||||||||
| 識別子タイプ | ISBN | |||||||
| 関連識別子 | 978-395241738-6 | |||||||
| DOI | ||||||||
| 関連タイプ | isVersionOf | |||||||
| 識別子タイプ | DOI | |||||||
| 関連識別子 | https://doi.org/10.23919/ecc.2007.7068645 | |||||||
| 出版者 | ||||||||
| 出版者 | 2007 EUCA / Institute of Electrical and Electronics Engineers Inc. | |||||||
| 抄録 | ||||||||
| 内容記述タイプ | Abstract | |||||||
| 内容記述 | It is known that limitations of human accuracy in manual manipulation hinder the quality of work performed by human operators of manual control systems. Indeed, movements of operators are apt to cause undesirable vibrations in manual control systems. In this paper, we propose a new operator-support-control scheme for suppressing harmful oscillatory motions in such systems without disturbing human operator's manipulation. The proposed scheme is based on the fact that steady-state blocking zeros of a feedback controller do not affect the steady-state control input. A finite-dimensional feedback controller with steady-state blocking zeros, called a washout controller in this paper, plays the central role in support for operator's manipulation. However, the dynamics of a manual control system may become different significantly from its initial model used for the design of an initial washout controller when it is applied to the manual control system. Such difference can result in poor performance of operator-support-control. In order to improve it, an iterative procedure is presented for re-design of washout controllers based on closed-loop subspace identification. Closed-loop identification is performed to brush up the model for the control design, and then a more sophisticated washout controller is obtained using the identified model. The effectiveness of the proposed scheme is demonstrated by an experiment on manual control of an inverted pendulum. © 2007 EUCA. | |||||||
| 著者版フラグ | ||||||||
| 出版タイプ | AM | |||||||
| 出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa | |||||||
