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  1. 学術雑誌論文

Improving the Motion Performance for an Intelligent Walking Support Machine by RLS Algorithm

http://hdl.handle.net/10173/1501
http://hdl.handle.net/10173/1501
f2ac7a3a-c0e3-4597-9e72-8da9e76ec640
名前 / ファイル ライセンス アクション
28-8.pdf 28-8.pdf (685.7 kB)
Item type 学術雑誌論文 / Journal Article(1)
公開日 2017-03-24
タイトル
タイトル Improving the Motion Performance for an Intelligent Walking Support Machine by RLS Algorithm
言語
言語 eng
キーワード
主題Scheme Other
主題 Walking support machine
キーワード
主題Scheme Other
主題 Digital acceleration control
キーワード
主題Scheme Other
主題 Recursive least squares
キーワード
主題Scheme Other
主題 Online identification
資源タイプ
資源タイプ識別子 http://purl.org/coar/resource_type/c_6501
資源タイプ journal article
著者 Wang, Yina

× Wang, Yina

Wang, Yina

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Wang, Shuoyu

× Wang, Shuoyu

Wang, Shuoyu

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Tan, Renpeng

× Tan, Renpeng

Tan, Renpeng

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Jiang, Yinlai

× Jiang, Yinlai

Jiang, Yinlai

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Ishida, Kenji

× Ishida, Kenji

Ishida, Kenji

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Kobayashi, Yo

× Kobayashi, Yo

Kobayashi, Yo

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Fujie, Masakatsu G

× Fujie, Masakatsu G

Fujie, Masakatsu G

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抄録
内容記述タイプ Abstract
内容記述 To make the old people and handicapped people move easily by themselves, an omni-directional walking support machine (WSM) has been developed. In our previous study, to improve the motion performance of the WSM, a digital acceleration control method has been developed to deal with the nonlinear friction. However, the design of the digital acceleration controller requires to know the exact plant parameters of the WSM which are variable due to center of gravity (COG) shift and load changes. The change of the plant parameters affects the motion performance of the digital acceleration control system. Therefore, in this paper, a discrete-time system identification method using recursive least squares (RLS) algorithm is proposed to online identify the WSM’s plant parameters for the digital acceleration controller. Simulations are executed and compared with the digital acceleration controller without using RLS algorithm, and the results demonstrate the feasibility and effectiveness of the proposed control method.
書誌情報 ICIC Express Letters

巻 7, 号 4, p. 1177-1182, 発行日 2013-04
ISSN
収録物識別子タイプ ISSN
収録物識別子 1881-803X
権利
権利情報 ICIC International © 2013
著者版フラグ
出版タイプ VoR
出版タイプResource http://purl.org/coar/version/c_970fb48d4fbd8a85
出版者
出版者 ICIC International
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