シャ　キンカ   Jinhua She   佘　錦華    所属   工学部 機械工学科    職種   教授
言語種別	英語
発行・発表の年月	2015/03
形態種別	学術論文
査読	査読あり
標題	Motion Control of a Wheeled Inverted Pendulum Using Equivalent-Input-Disturbance Approach
執筆形態	共著
掲載誌名	Journal of Advanced Computational Intelligence and Intelligent Informatics
出版社・発行元	Fuji Technology Press Co., Ltd.
巻・号・頁	19(2),pp.293-300
担当範囲	All
著者・共著者	Qi Shi, Zhejun Fang, Jinhua She, Junya Imani, and Yasuhiro Ohyama
概要	This paper presents a new method for the motion control of a wheeled inverted pendulum (WIP) based on the equivalent-input-disturbance (EID) approach. First, a coordinate transformation transforms the WIP into a simple nonlinear system that is divided into linear and nonlinear parts. Then, the nonlinear part is taken to be a state-and-input-dependent disturbance, and the EID approach is used to estimate and compensate it. Finally, the simulation results of an NXTway-GS demonstrate the validity of the method.
ISSN	1343-0130