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	2014/09
形態種別	国際会議論文
査読	査読あり
標題	Motion Control of a Mobile Wheeled Inverted Pendulum Using Equivalent-Input-Disturbance Approach
執筆形態	共著
掲載誌名	The Joint International Conference of the 10th China-Japan International Workshop on Information Technology and Control Applications and the 6th International Symposium on Computational Intelligence and Industrial Applications (ITCA & ISCIIA 2014)
出版社・発行元	Central South University
巻・号・頁	pp.201-207
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 of the motion control of a mobile wheeled inverted pendulum (MWIP) based on the equivalent input disturbance (EID) approach. First, a coordinate transformation transforms the servo system into a simple nonlinear system that divided into linear and nonlinear parts. Then, the nonlinear part is taken to be an input-dependent disturbance, and the EID method is used to estimate and compensate it. Finally, the simulation results of an NXTway-GS demonstrate the validity of the method.