| 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, Shuoyu
Tan, Renpeng
Jiang, Yinlai
Ishida, Kenji
Kobayashi, Yo
Fujie, Masakatsu G
|
| 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 |
28-8.pdf (685.7 kB)
