著者

大倉 裕貴 藤本 健治 斎藤 暁生 池田 英俊

出版者

公益社団法人 計測自動制御学会

雑誌

計測自動制御学会論文集 (ISSN:04534654)

巻号頁・発行日

vol.54, no.11, pp.812-820, 2018 (Released:2018-11-22)

参考文献数

21

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This paper describes a procedure to design potential functions for path following control of port-Hamiltonian systems. The conventional path following control method needs to find a time invariant potential function which takes its minimum on the desired path. It is difficult to find such a function for a complex path, since it has to satisfy additional several constraints. Inspired by the results of the existing trajectory tracking control method of port-Hamiltonian systems, we propose an improved path following control method in which a potential function for path following control is acquired by solving simple partial differential equations.

著者

大倉 裕貴 藤本 健治 斎藤 暁生 池田 英俊

出版者

システム制御情報学会

雑誌

システム制御情報学会研究発表講演会講演論文集

巻号頁・発行日

vol.62, 2018-05-16

著者

池田 英俊

巻号頁・発行日

1992

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筑波大学博士 (文学) 学位論文・平成4年3月25日授与 (乙第740号)

著者

池田 英俊 勝俣 嘉一 庄司 道彦 高橋 隆行 中野 栄二

出版者

日本ロボット学会

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.26, no.2, pp.200-209, 2008-03-15 (Released:2010-08-25)

参考文献数

25

被引用文献数

5 10

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This paper describes a method of cooperative strategy which enables a wheelchair and a wheeled robot to climb a step by a simple link mechanism which connects between them. We perform a numerical calculation to clarify the combination of two supporting positions of the connecting link that connects the two vehicles which enable them to climb a step and is stable at the same time. We conclude from the result of the simulation that it is necessary to change the link positions to climb a step safely. We ascertain the effectiveness of this method by means of experiments.