WEKO3
アイテム
State observer-based robust control scheme for electrically driven robot manipulators
http://hdl.handle.net/10228/979
http://hdl.handle.net/10228/97986fac3b7-2284-4461-81a3-613054c5e7ad
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
State_20080212150800_001.pdf (2.1 MB)
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| アイテムタイプ | 学術雑誌論文 = Journal Article(1) | |||||||||||||
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| 公開日 | 2008-02-12 | |||||||||||||
| 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 | |||||||||||||
| タイトル | ||||||||||||||
| タイトル | State observer-based robust control scheme for electrically driven robot manipulators | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
大屋, 勝敬
× 大屋, 勝敬
WEKO
3259
× Chun-Yi, Su× Kobayashi, Toshihiro |
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | By using a state observer, a new robust trajectory tracking control scheme is developed in this paper for electrically driven robot manipulators. The role of the observer is to estimate joint angular velocities. The proposed controller does not employ adaptation, but assures robust stability of tracking error between joint angles and desired trajectories. At sacrificing asymptotical stability of the tracking errors, the configuration of the proposed controller becomes very simple, compared with regressor-based adaptive controllers. It is shown in the closed-loop system using the proposed controller that the Euclidian norm of tracking errors arrives at any small closed region with any convergent rate by setting only one design parameter. Especially for the desired trajectories converging to constant ultimate values, it is assured that tracking errors converge to zero. | |||||||||||||
| 書誌情報 |
Robotics, IEEE Transactions on [see also Robotics and Automation, IEEE Transactions on] 巻 20, 号 4, p. 796-804, 発行日 2004-08 |
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| 出版社 | ||||||||||||||
| 出版者 | Institute of Electrical and Electronics Engineers | |||||||||||||
| DOI | ||||||||||||||
| 関連タイプ | isIdenticalTo | |||||||||||||
| 識別子タイプ | DOI | |||||||||||||
| 関連識別子 | info:doi/10.1109/TRO.2004.829481 | |||||||||||||
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| 関連タイプ | isIdenticalTo | |||||||||||||
| 識別子タイプ | NAID | |||||||||||||
| 関連識別子 | 120002440941 | |||||||||||||
| 日本十進分類法 | ||||||||||||||
| 主題Scheme | NDC | |||||||||||||
| 主題 | 548 | |||||||||||||
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| 収録物識別子タイプ | NCID | |||||||||||||
| 収録物識別子 | AA1196840X | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||||
| 収録物識別子 | 1552-3098 | |||||||||||||
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| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 1941-0468 | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | ©2004 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. | |||||||||||||
| 出版タイプ | ||||||||||||||
| 出版タイプ | VoR | |||||||||||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||||||||||
| 査読の有無 | ||||||||||||||
| 値 | yes | |||||||||||||
