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Decoupling and Robust Adaptive Control of Omnidirectional, Automated Guided Vehicle Based on Nonguided Line Navigation System
http://hdl.handle.net/2298/12492
http://hdl.handle.net/2298/124926d3c6ba1-2945-44c4-98f5-5076e24be8f7
名前 / ファイル | ライセンス | アクション |
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110004069019.pdf (675.9 kB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||
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公開日 | 2009-10-05 | |||||
タイトル | ||||||
タイトル | Decoupling and Robust Adaptive Control of Omnidirectional, Automated Guided Vehicle Based on Nonguided Line Navigation System | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題 | Automatic Control, Adaptive Control, Moving Robot, Automated Guided Vehicle, Decoupling Control, Robust Adaptive Control, Omnidirectional Vehicle | |||||
資源タイプ | ||||||
資源タイプ | journal article | |||||
著者 |
川崎, 義則
× 川崎, 義則× 岩井, 善太× 原槙, 真也 |
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別言語の著者 |
川崎, 義則
× 川崎, 義則× Iwai, Zenta× Haramaki, Shinya |
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内容記述 | ||||||
内容記述 | This paper is concerned with a control system design for the new type of omnidirectional AGV (automated guided vehicle) without any steering mechanisms. The system is regarded as a highly nonlinear multidimensional system with parameter uncertainties, so the conventional control techniques are not available. Here we propose a new control algorithm by combining nonlinear decoupling control with robust simple adaptive control (SAC). Both techniques were developed by one of the authors. The control system then results in single-input and single-output (SISO)control systems by the effect of decoupling control, and the control accuracy is assured by robust SAC. The effectiveness of the proposed method is confirmed through numerical simulations. | |||||
書誌情報 |
JSME international journal. Series C, Mechanical systems, machine elements and manufacturing 巻 37-C, 号 1, p. 107-114, 発行年 1994-03-15 |
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書誌レコードID | ||||||
収録物識別子 | AA10898309 | |||||
DOI | ||||||
関連タイプ | isIdenticalTo | |||||
関連識別子 | https://doi.org/10.1299/jsmec1993.37.107 | |||||
情報源(ISSN) | ||||||
関連名称 | 13408062 | |||||
フォーマット | ||||||
内容記述 | application/pdf | |||||
形態 | ||||||
675948 bytes | ||||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
日本十進分類法 | ||||||
主題 | 531 | |||||
出版者 | ||||||
出版者 | 社団法人日本機械学会 | |||||
出版者(ヨミ) | ||||||
ニホン キカイ ガッカイ | ||||||
別言語の出版者 | ||||||
The Japan Society of Mechanical Engineers | ||||||
資源タイプ | ||||||
内容記述 | 論文(Article) | |||||
資源タイプ・ローカル | ||||||
雑誌掲載論文 | ||||||
資源タイプ・NII | ||||||
Journal Article | ||||||
資源タイプ・DCMI | ||||||
text | ||||||
資源タイプ・ローカル表示コード | ||||||
01 | ||||||
コメント | ||||||
本文データは学協会の許諾に基づきCiNiiから複製したものである。 |