{"created":"2023-05-15T11:55:42.368049+00:00","id":732,"links":{},"metadata":{"_buckets":{"deposit":"092d9d6d-dd54-4d3b-9e93-7137bcb8f0d1"},"_deposit":{"created_by":3,"id":"732","owners":[3],"pid":{"revision_id":0,"type":"depid","value":"732"},"status":"published"},"_oai":{"id":"oai:kyutech.repo.nii.ac.jp:00000732","sets":["8:9"]},"author_link":["3263","3262","3259"],"control_number":"732","item_21_biblio_info_6":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2003-02","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"1","bibliographicPageEnd":"181","bibliographicPageStart":"175","bibliographicVolumeNumber":"19","bibliographic_titles":[{"bibliographic_title":"Robotics and Automation, IEEE Transactions on"}]}]},"item_21_description_4":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"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.","subitem_description_type":"Abstract"}]},"item_21_description_60":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"subitem_description":"Journal Article","subitem_description_type":"Other"}]},"item_21_full_name_3":{"attribute_name":"著者別名","attribute_value_mlt":[{"affiliations":[{"affiliationNames":[{"affiliationName":"","lang":"ja"}],"nameIdentifiers":[]}],"familyNames":[{"familyName":"Oya","familyNameLang":"en"},{"familyName":"大屋","familyNameLang":"ja"},{"familyName":"オオヤ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Masahiro","givenNameLang":"en"},{"givenName":"勝敬","givenNameLang":"ja"},{"givenName":"マサヒロ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"3259","nameIdentifierScheme":"WEKO"},{"nameIdentifier":"40203947","nameIdentifierScheme":"e-Rad","nameIdentifierURI":"https://nrid.nii.ac.jp/ja/nrid/1000040203947"},{"nameIdentifier":"7101913473","nameIdentifierScheme":"Scopus著者ID","nameIdentifierURI":"https://www.scopus.com/authid/detail.uri?authorId=7101913473"},{"nameIdentifier":"6","nameIdentifierScheme":"九工大研究者情報","nameIdentifierURI":"https://hyokadb02.jimu.kyutech.ac.jp/html/6_ja.html"}],"names":[{"name":"Oya, Masahiro","nameLang":"en"},{"name":"大屋, 勝敬","nameLang":"ja"},{"name":"オオヤ, マサヒロ","nameLang":"ja-Kana"}]}]},"item_21_publisher_7":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"Institute of Electrical and Electronics Engineers"}]},"item_21_relation_12":{"attribute_name":"DOI","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"info:doi/10.1109/TRA.2002.807528","subitem_relation_type_select":"DOI"}}]},"item_21_relation_66":{"attribute_name":"論文ID（NAID）","attribute_value_mlt":[{"subitem_relation_type":"isIdenticalTo","subitem_relation_type_id":{"subitem_relation_type_id_text":"120002440942","subitem_relation_type_select":"NAID"}}]},"item_21_rights_13":{"attribute_name":"著作権関連情報","attribute_value_mlt":[{"subitem_rights":"©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."}]},"item_21_select_59":{"attribute_name":"査読の有無","attribute_value_mlt":[{"subitem_select_item":"yes"}]},"item_21_source_id_10":{"attribute_name":"NCID","attribute_value_mlt":[{"subitem_source_identifier":"AA10686140","subitem_source_identifier_type":"NCID"}]},"item_21_source_id_8":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"1042-296X","subitem_source_identifier_type":"PISSN"},{"subitem_source_identifier":"2374-958X","subitem_source_identifier_type":"EISSN"}]},"item_21_subject_16":{"attribute_name":"日本十進分類法","attribute_value_mlt":[{"subitem_subject":"423","subitem_subject_scheme":"NDC"}]},"item_21_text_36":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"Dept. of Control Eng., Kyushu Institute of Technology, Kitakyushu, Japan"}]},"item_21_version_type_58":{"attribute_name":"出版タイプ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":""}]}],"creatorNames":[{"creatorName":"Oya, Masahiro","creatorNameLang":"en"},{"creatorName":"大屋, 勝敬","creatorNameLang":"ja"},{"creatorName":"オオヤ, マサヒロ","creatorNameLang":"ja-Kana"}],"familyNames":[{},{},{}],"givenNames":[{},{},{}],"nameIdentifiers":[{},{},{},{}]},{"creatorNames":[{"creatorName":"Chun-Yi, Su","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Katoh, R","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2008-02-12"}],"displaytype":"detail","filename":"Robust_20080212150642_001.pdf","filesize":[{"value":"1.9 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"Robust_20080212150642_001.pdf","url":"https://kyutech.repo.nii.ac.jp/record/732/files/Robust_20080212150642_001.pdf"},"version_id":"11b115ae-a60d-461b-be2a-bc7c6a303f41"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"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":"Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems","subitem_title_language":"en"}]},"item_type_id":"21","owner":"3","path":["9"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2008-02-12"},"publish_date":"2008-02-12","publish_status":"0","recid":"732","relation_version_is_last":true,"title":["Robust adaptive motion/force tracking control of uncertain nonholonomic mechanical systems"],"weko_creator_id":"3","weko_shared_id":-1},"updated":"2024-04-02T08:36:41.425716+00:00"}