@article{oai:kumadai.repo.nii.ac.jp:00022377,
 author = {川崎, 義則 and Kawasaki, Yoshinori and Iwai, Zenta and Haramaki, Shinya and 川崎, 義則 and Iwai, Zenta and 岩井, 善太 and 原槙, 真也 and Haramaki, Shinya},
 issue = {1},
 journal = {JSME international journal. Series C, Mechanical systems, machine elements and manufacturing},
 month = {Mar},
 note = {application/pdf, 論文(Article), 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.},
 pages = {107--114},
 title = {Decoupling and Robust Adaptive Control of Omnidirectional, Automated Guided Vehicle Based on Nonguided Line Navigation System},
 volume = {37-C},
 year = {1994},
 yomi = {カワサキ, ヨシノリ and イワイ, ゼンタ and ハラマキ, シンヤ}
}