Controllability analysis and control design of nonholonomic systems 非ホロノミックシステムの可制御性解析と制御設計

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著者

    • 小林, 啓吾 コバヤシ, ケイゴ

書誌事項

タイトル

Controllability analysis and control design of nonholonomic systems

タイトル別名

非ホロノミックシステムの可制御性解析と制御設計

著者名

小林, 啓吾

著者別名

コバヤシ, ケイゴ

学位授与大学

京都大学

取得学位

博士 (工学)

学位授与番号

甲第7836号

学位授与年月日

1999-03-23

注記・抄録

博士論文

目次

  1. 論文目録 / (0001.jp2)
  2. Abstract / p1 (0004.jp2)
  3. Contents / p5 (0006.jp2)
  4. 1 Introduction / p1 (0007.jp2)
  5. 1.1 Control of nonholonomic systems / p1 (0007.jp2)
  6. 1.2 Control of first order nonholonomic systems / p2 (0008.jp2)
  7. 1.3 Control of second order nonholonomic systems / p7 (0010.jp2)
  8. 1.4 Purpose and outline of this thesis / p13 (0013.jp2)
  9. 2 Exponential Stabilization Problem of Nonholonomic Chained Systems with Specified Transient Response / p15 (0014.jp2)
  10. 2.1 Introduction / p15 (0014.jp2)
  11. 2.2 Motivation and design procedure / p17 (0015.jp2)
  12. 2.3 Stabilizing controller with specified transient response / p21 (0017.jp2)
  13. 2.4 Application to a 4-wheeled car / p29 (0021.jp2)
  14. 2.5 Proof of Theorem 2.1 / p38 (0026.jp2)
  15. 2.6 Conclusion / p44 (0029.jp2)
  16. 3 Controllability of Under-actuated Planar Manipulators with One Unactuated Joint / p45 (0029.jp2)
  17. 3.1 Introduction / p45 (0029.jp2)
  18. 3.2 Equation of motion of n link underactuated manipulators / p46 (0030.jp2)
  19. 3.3 Time reversed system / p49 (0031.jp2)
  20. 3.4 Stabilization to Sѡ / p50 (0032.jp2)
  21. 3.5 Local controllability around S_ѡ / p53 (0033.jp2)
  22. 3.6 Conclusion / p56 (0035.jp2)
  23. 4 Controllability of Under-actuated Planar Manipulators with Two Unactuated Joints / p57 (0035.jp2)
  24. 4.1 Introduction / p57 (0035.jp2)
  25. 4.2 Main result / p58 (0036.jp2)
  26. 4.3 Time reversed system of Lagrangian system / p60 (0037.jp2)
  27. 4.4 Derivation of the equation of motion / p61 (0037.jp2)
  28. 4.5 Stabilization of system B / p63 (0038.jp2)
  29. 4.6 Local controllability of system B / p65 (0039.jp2)
  30. 4.7 Proof of Theorem 4.2 / p66 (0040.jp2)
  31. 4.8 Discussion on the general case / p68 (0041.jp2)
  32. 4.9 Conclusion / p68 (0041.jp2)
  33. 5 Exponential Stabilization of a Under-actuated Planar Manipulator with One Unactuated Joint / p69 (0041.jp2)
  34. 5.1 Introduction / p69 (0041.jp2)
  35. 5.2 Equation of P²R system / p70 (0042.jp2)
  36. 5.3 Controller for the second order chained systems / p72 (0043.jp2)
  37. 5.4 Simulation / p75 (0044.jp2)
  38. 5.5 Proof of Theorem 5.2 / p78 (0046.jp2)
  39. 5.6 Conclusion / p80 (0047.jp2)
  40. 6 Conclusions / p81 (0047.jp2)
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各種コード

  • NII論文ID(NAID)
    500000170397
  • NII著者ID(NRID)
    • 8000000170671
  • DOI(NDL)
  • NDL書誌ID
    • 000000334711
  • データ提供元
    • NDL-OPAC
    • NDLデジタルコレクション
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