倒立振子の姿勢制御--質量の横方向移動による安定化
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- Material Type
- 記事
- Author/Editor
- 林 節八嘉納 秀明増淵 正美
- Periodical title
- 計測自動制御学会論文集 = Transactions of the Society of Instrument and Control Engineers
- No. or year of volume/issue
- 13(5) 1977.10
- Volume
- 13
- Issue
- 5
- Pages
- p425～432
- Publication date of volume/issue (W3CDTF)
- 1977-10
- ISSN (Periodical Title)
- 0453-4654
- ISSN-L (Periodical Title)
- 0453-4654
- Publication (Periodical Title)
- 東京 : 計測自動制御学会 ; [1965]-
- Place of Publication (Country Code)
- JP
- Text Language Code
- jpn
- NDLC
- Target Audience
- 一般
- Article Type
- 記事分類: 制御工学
- Holding library
- 国立国会図書館
- Call No.
- Z14-482
- Data Provider (Database)
- 国立国会図書館 : 国立国会図書館雑誌記事索引
- Bibliographic ID (NDL)
- 1847798
- Bibliographic Record Category (NDL)
- 632
- Summary, etc.
- 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
- Access Restrictions
- インターネット公開
- Data Provider (Database)
- 科学技術振興機構 : J-STAGE
- Summary, etc.
- 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
- Access Restrictions
- インターネット公開
- Related Material (URI)
- Data Provider (Database)
- 国立情報学研究所 : CiNii Research
- Original Data Provider (Database)
- Japan Link Center雑誌記事索引データベースCrossrefCiNii ArticlesCiNii Articles
- Bibliographic ID (NDL)
- 1847798
- NAID
- 13000378932720000299531