@article{oai:kumadai.repo.nii.ac.jp:00022976,
 author = {Kumon, Makoto and Adachi, Norihiko and Kumon, Makoto and 公文, 誠 and 足立, 紀彦},
 issue = {656},
 journal = {日本機械学會論文集. C編},
 month = {Apr},
 note = {application/pdf, 論文(Article), Path following is a popular task for robotic use. The conventional approach for the path following consists of two stages. At the first stage, the desired state of a robot is computed as a function of time before the robot executes the task. And at the second stage, the robot is controlled to track the desired state. Since the objective of the original task is to follow the reference path, the velocity of the robot or timing is not needed to be controlled strictly. In this paper, a new approach to make the robot follow the reference path is proposed. This approach defines the desired state as a function of a parameter φ, which has a dynamics. By using a Lyapunov function, the global asymptotic stability of the system is proved. Computer simulations show the effectiveness of the proposed method., http://ci.nii.ac.jp/naid/110002386111@@@http://www.jsme.or.jp/},
 pages = {1053--1059},
 title = {動的パラメータ表現による経路追従制御 : 機械力学,計測,自動制御},
 volume = {67},
 year = {2001},
 yomi = {クモン, マコト}
}