{"created":"2023-07-25T10:27:48.734121+00:00","id":539,"links":{},"metadata":{"_buckets":{"deposit":"e890ad05-96b8-4fb4-8c77-fdecd29dcf49"},"_deposit":{"created_by":2,"id":"539","owners":[2],"pid":{"revision_id":0,"type":"depid","value":"539"},"status":"published"},"_oai":{"id":"oai:it-hiroshima.repo.nii.ac.jp:00000539","sets":["1:17:208"]},"author_link":["2353","2352","2354","2357","2356","2355"],"item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1994","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"86","bibliographicPageStart":"75","bibliographicVolumeNumber":"28","bibliographic_titles":[{"bibliographic_title":"広島工業大学研究紀要"}]}]},"item_10002_description_19":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"The improved performance of an adaptive model-following control syetem (AMFC) which is based on the Popov's hyperstability theorem and developed by Balestrino et al. has been discussed using a 2-link robotic manipulator. With an optimized saturation function (sat(ν)opt) in place of the unit vector input function(ν/llνll) for robust compensation, the steady tracking error characteristics e(∞) can be greatly improved, in addition to the elimination effect of the chattering occurring near the hyper-planes during the sliding mode, and the improved performance by taking the sat(ν)opt can be expected even to such a multi-input system as a robotic manipulator of multi-degree of freedom. It is also found that the improved AMFC via sat (ν)opt has a satisfactory performance on the robustness as compared with the LQ system.","subitem_description_type":"Abstract"}]},"item_10002_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"広島工業大学"}]},"item_10002_source_id_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN0021271X","subitem_source_identifier_type":"NCID"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"03851672","subitem_source_identifier_type":"ISSN"}]},"item_10002_version_type_20":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"川辺, 尚志"},{"creatorName":"カワベ, ヒサシ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2352","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"藤本, 克彦"},{"creatorName":"フジモト, カツヒコ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2353","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"藤岡, 栄治"},{"creatorName":"フジオカ, エイジ","creatorNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2354","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Kawabe, Hisashi","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"2355","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Fujimoto, Katsuhiko","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"2356","nameIdentifierScheme":"WEKO"}]},{"creatorNames":[{"creatorName":"Fujioka, Eiji","creatorNameLang":"en"}],"nameIdentifiers":[{"nameIdentifier":"2357","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2023-03-30"}],"displaytype":"detail","filename":"kenkyukiyo28075.pdf","filesize":[{"value":"733.0 kB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"kenkyukiyo28075.pdf","url":"https://it-hiroshima.repo.nii.ac.jp/record/539/files/kenkyukiyo28075.pdf"},"version_id":"618920d0-3066-46b3-98b4-506384c7bd1c"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"adaptive tracking error","subitem_subject_scheme":"Other"},{"subitem_subject":"robustness","subitem_subject_scheme":"Other"},{"subitem_subject":"hyperstability sliding mode","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"超安定理論に基づく適応モデル追従制御系の性能向上に関する一考察","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"超安定理論に基づく適応モデル追従制御系の性能向上に関する一考察"},{"subitem_title":"A Consideration of the Improved Performance of an Adaptive Model-Following Control System Based on the Hyperstability Theorem","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"2","path":["208"],"pubdate":{"attribute_name":"公開日","attribute_value":"2023-03-30"},"publish_date":"2023-03-30","publish_status":"0","recid":"539","relation_version_is_last":true,"title":["超安定理論に基づく適応モデル追従制御系の性能向上に関する一考察"],"weko_creator_id":"2","weko_shared_id":-1},"updated":"2023-07-25T10:46:57.518844+00:00"}