倒立振子の姿勢制御--質量の横方向移動による安定化

• 資料種別: 記事
• タイトル: 倒立振子の姿勢制御--質量の横方向移動による安定化
• 著者・編者: 林 節八; 嘉納 秀明; 増淵 正美
• 著者標目: 林 節八; 嘉納 秀明; 増淵 正美
• タイトル（掲載誌）: 計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers
• 巻号年月日等（掲載誌）: 13(5) 1977.10
• 掲載巻: 13
• 掲載号: 5
• 掲載ページ: p425～432
• 掲載年月日（W3CDTF）: 1977-10
• ISSN（掲載誌）: 0453-4654
• ISSN-L（掲載誌）: 0453-4654
• 出版事項（掲載誌）: 東京 : 計測自動制御学会 ; [1965]-
• 出版地（国名コード）: JP
• 本文の言語コード: jpn
• NDLC: ZM11
• 対象利用者: 一般
• 記事種別、記事分類: 記事分類: 制御工学
• 所蔵機関: 国立国会図書館
• 請求記号: Z14-482
• 連携機関・データベース: 国立国会図書館 : 国立国会図書館雑誌記事索引; https://ndlsearch.ndl.go.jp
• 書誌ID（NDLBibID）: 1847798; http://id.ndl.go.jp/bib/1847798
• 整理区分コード: 632

• 要約等: This paper presents a stabilization control of inherently unstable systems in their nature. An inverted pendulum which is a typical, unstable mechanical system, is considered and stabilized by moving a weight horizontally through a feedback control. A stabilization problem in this system coresponds to that in the postural control of a man.<br>It is shown that, so far as the dry friction at the bearings etc. is negligible, this inverted pendulum is stabilizable when the linearized system is controlable and observable. At the experiment, the output, the weight position <i>r</i> and the pendulum angle θ, and the estimated state (<i>r</i>, θ) by a minimum order observer or an approximate differentiator are fed back. Experimental results show that stabilization was posible in spite of the existence of the dry friction at the bearings etc..
• DOI: 10.9746/sicetr1965.13.425
• オンライン閲覧公開範囲: インターネット公開
• 連携機関・データベース: 科学技術振興機構 : J-STAGE; http://www.jstage.jst.go.jp

• 要約等: This paper presents a stabilization control of inherently unstable systems in their nature. An inverted pendulum which is a typical, unstable mechanical system, is considered and stabilized by moving a weight horizontally through a feedback control. A stabilization problem in this system coresponds to that in the postural control of a man.<br>It is shown that, so far as the dry friction at the bearings etc. is negligible, this inverted pendulum is stabilizable when the linearized system is controlable and observable. At the experiment, the output, the weight position <i>r</i> and the pendulum angle θ, and the estimated state (<i>r</i>, θ) by a minimum order observer or an approximate differentiator are fed back. Experimental results show that stabilization was posible in spite of the existence of the dry friction at the bearings etc..
• DOI: 10.9746/sicetr1965.13.425; https://doi.org/10.9746/sicetr1965.13.425
• オンライン閲覧公開範囲: インターネット公開
• 関連情報（URI）: http://id.ndl.go.jp/bib/1847798; https://ndlsearch.ndl.go.jp/books/R000000004-I1847798; https://www.jstage.jst.go.jp/article/sicetr1965/13/5/13_5_425/_pdf
• 連携機関・データベース: 国立情報学研究所 : CiNii Research; https://cir.nii.ac.jp/
• 提供元機関・データベース: Japan Link Center; https://japanlinkcenter.org/top; 雑誌記事索引データベース; https://ndlsearch.ndl.go.jp; Crossref; https://www.crossref.org; CiNii Articles
• 書誌ID（NDLBibID）: 1847798; http://id.ndl.go.jp/bib/1847798
• NII論文ID: 130003789327; 20000299531