WEKO3
アイテム
Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems
http://hdl.handle.net/10228/980
http://hdl.handle.net/10228/9808c1e71c7-0e64-4f33-b6bb-3ee6917cf1dc
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
Robust_20080212150642_001.pdf (1.9 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 | Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems | |||||||||||||
| 言語 | en | |||||||||||||
| 言語 | ||||||||||||||
| 言語 | eng | |||||||||||||
| 著者 |
大屋, 勝敬
× 大屋, 勝敬
WEKO
3259
× Chun-Yi, Su× Katoh, R |
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| 抄録 | ||||||||||||||
| 内容記述タイプ | Abstract | |||||||||||||
| 内容記述 | The position/force tracking control of Lagrangian mechanical systems with classical nonholonomic constraints is addressed in this paper. The main feature of this paper is that 1) control strategy is developed at the dynamic level and can deal with model uncertainties in the mechanical systems; 2) the proposed control law ensures the desired trajectory tracking of the configuration state of the closed-loop system; 3) the tracking error of constraint force is bounded with a controllable bound; and 4) a global asymptotic stability result is obtained in the Lyapunov sense. A detailed numerical example is presented to illustrate the developed method. | |||||||||||||
| 書誌情報 |
Robotics and Automation, IEEE Transactions on 巻 19, 号 1, p. 175-181, 発行日 2003-02 |
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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/TRA.2002.807528 | |||||||||||||
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| 関連タイプ | isIdenticalTo | |||||||||||||
| 識別子タイプ | NAID | |||||||||||||
| 関連識別子 | 120002440942 | |||||||||||||
| 日本十進分類法 | ||||||||||||||
| 主題Scheme | NDC | |||||||||||||
| 主題 | 423 | |||||||||||||
| NCID | ||||||||||||||
| 収録物識別子タイプ | NCID | |||||||||||||
| 収録物識別子 | AA10686140 | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | PISSN | |||||||||||||
| 収録物識別子 | 1042-296X | |||||||||||||
| ISSN | ||||||||||||||
| 収録物識別子タイプ | EISSN | |||||||||||||
| 収録物識別子 | 2374-958X | |||||||||||||
| 著作権関連情報 | ||||||||||||||
| 権利情報 | ©2003 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 | |||||||||||||
