{"created":"2023-06-20T14:40:41.579741+00:00","id":7610,"links":{},"metadata":{"_buckets":{"deposit":"1bdd7dd9-a860-4e5f-b95e-8140108c4d2a"},"_deposit":{"created_by":1,"id":"7610","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7610"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007610","sets":["1543:1544:1558","1887:1891"]},"author_link":["40767","40766","40768","40765"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"バックステッピング法による宇宙ロボットの制御"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2006-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"289","bibliographicPageStart":"282","bibliographic_titles":[{"bibliographic_title":"第15回アストロダイナミクスシンポジウム講演後刷り集　2005"},{"bibliographic_title":"Proceedings of 15th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"非ホロノミックな拘束を有するシステムに対する制御則は数多く提案されており、その中の1つとしてバックステッピング法が挙げられる。本論文では、宇宙ロボットの姿勢とジョイント角度を同時にかつ独立に制御する手法をバックステッピング法を用いて提案する。バックステッピング法における安定性解析はリアプノフ関数に基づいているので、制御器のロバスト性を考察しやすい利点がある。数値計算により提案する制御則の有効性を確認する。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"Several control methods for the nonholonomic systems have been proposed over the past years. Backstepping is one of the control methods for nonlinear systems, and is expected to be applicable to the wide class of nonlinear systems. In this paper, a feedback controller that can stabilize simultaneously and independently the space robot attitude and the arm joint angles is proposed by using Backstepping approach. Since the stability analysis of Backstepping method is based on Lyapunov functions, it is easy to develop the nominal stabilizing controller into the robust stabilizing controller by modifying the feedback gains. Numerical simulations of the closed loop system with the original controller and modified controller are carried out in order to verify the effectiveness of the feedback controllers.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063480045","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"東京都立科学技術大学"},{"subitem_text_value":"東京都立科学技術大学"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Tokyo Metropolitan Institute of Technology"},{"subitem_text_language":"en","subitem_text_value":"Tokyo Metropolitan Institute of Technology"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"橋本, 智昭"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"藤井, 裕矩"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Hashimoto, Tomoaki","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Fujii, Hironori","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロボット制御","subitem_subject_scheme":"Other"},{"subitem_subject":"姿勢制御","subitem_subject_scheme":"Other"},{"subitem_subject":"ロボティックス","subitem_subject_scheme":"Other"},{"subitem_subject":"制御理論","subitem_subject_scheme":"Other"},{"subitem_subject":"バックステッピング","subitem_subject_scheme":"Other"},{"subitem_subject":"非線形制御","subitem_subject_scheme":"Other"},{"subitem_subject":"宇宙ロボット","subitem_subject_scheme":"Other"},{"subitem_subject":"フィードバック制御","subitem_subject_scheme":"Other"},{"subitem_subject":"制御安定性","subitem_subject_scheme":"Other"},{"subitem_subject":"ロバスト性","subitem_subject_scheme":"Other"},{"subitem_subject":"非ホロノミック方程式","subitem_subject_scheme":"Other"},{"subitem_subject":"リアプノフ関数","subitem_subject_scheme":"Other"},{"subitem_subject":"リーの括弧式","subitem_subject_scheme":"Other"},{"subitem_subject":"計算機シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"robot control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"attitude control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robotics","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control theory","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"backstepping","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"nonlinear control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"space robot","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"feedback control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"control stability","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"robustness","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"nonholonomic equation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Lyapunov function","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Lie bracket","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"computerized simulation","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Attitude control of space robot using Backstepping","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Attitude control of space robot using Backstepping","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1558","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7610","relation_version_is_last":true,"title":["Attitude control of space robot using Backstepping"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:36:49.568748+00:00"}