{"created":"2023-05-15T12:25:32.939560+00:00","id":845,"links":{},"metadata":{"_buckets":{"deposit":"9effb1db-408d-4c67-95ba-49f394304000"},"_deposit":{"created_by":4,"id":"845","owners":[4],"pid":{"revision_id":0,"type":"depid","value":"845"},"status":"published"},"_oai":{"id":"oai:kait.repo.nii.ac.jp:00000845","sets":["2:16:41:113"]},"author_link":[],"item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"1999-03-20","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"17","bibliographicPageStart":"11","bibliographicVolumeNumber":"23","bibliographic_titles":[{"bibliographic_title":"神奈川工科大学研究報告.B,理工学編"}]}]},"item_10002_description_19":{"attribute_name":"フォーマット","attribute_value_mlt":[{"subitem_description":"application/pdf","subitem_description_type":"Other"}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"An inverted pendulum system is typical of a nonlinear model. A swing-up controller of inverted pendulum system must diverge the pendulum from the stable position, while a stabilizing controller must stand the pendulum the unstable position. Therefore, a swing-up controller and a stabilizing controller have to be designed individually in the case of using a control technique based on a linear model. Sliding mode control technique is of considerable interest due to its capability to deal with nonlinear system easily. In this study, simple controller executing both swing-up and stabilization of inverted pendulum is developed with sliding mode control technique using the nonlinear model. In addition, a nonlinear model VSS observer is designed to estimate the velocity of the cart and the angular velocity of the pendulum from these displacements. Then, numerical simulations and experiments are carried out to confirm the performance of the developed controller and observer.","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10002_identifier_registration":{"attribute_name":"ID登録","attribute_value_mlt":[{"subitem_identifier_reg_text":"10.34411/00000838","subitem_identifier_reg_type":"JaLC"}]},"item_10002_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"神奈川工科大学"}]},"item_10002_source_id_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN10074179","subitem_source_identifier_type":"NCID"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"09161902","subitem_source_identifier_type":"PISSN"}]},"item_10002_version_type_20":{"attribute_name":"著者版フラグ","attribute_value_mlt":[{"subitem_version_resource":"http://purl.org/coar/version/c_970fb48d4fbd8a85","subitem_version_type":"VoR"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"川島, 豪","creatorNameLang":"ja"}]},{"creatorNames":[{"creatorName":"Kawashima, Takeshi","creatorNameLang":"en"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_date","date":[{"dateType":"Available","dateValue":"2010-02-03"}],"displaytype":"detail","filename":"kkb-023-003.pdf","filesize":[{"value":"3.0 MB"}],"format":"application/pdf","licensetype":"license_note","mimetype":"application/pdf","url":{"label":"kkb-023-003.pdf","objectType":"fulltext","url":"https://kait.repo.nii.ac.jp/record/845/files/kkb-023-003.pdf"},"version_id":"73523dc5-a600-4fbb-b94f-13fc826f2614"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"Nonlinear Control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Inverted Pendulum","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Sliding Mode Control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Observer","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Nonlinear Model","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"jpn"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"departmental bulletin paper","resourceuri":"http://purl.org/coar/resource_type/c_6501"}]},"item_title":"非線形モデルVSSオブザーバを用いたスライディングモード制御による倒立振子の振り上げと安定化","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"非線形モデルVSSオブザーバを用いたスライディングモード制御による倒立振子の振り上げと安定化","subitem_title_language":"ja"},{"subitem_title":"Swing-up and Stabilization of Inverted Pendulum by Sliding Mode Controller with Nonlinear Model VSS Observer","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"4","path":["113"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2020-11-24"},"publish_date":"2020-11-24","publish_status":"0","recid":"845","relation_version_is_last":true,"title":["非線形モデルVSSオブザーバを用いたスライディングモード制御による倒立振子の振り上げと安定化"],"weko_creator_id":"4","weko_shared_id":-1},"updated":"2023-08-04T09:00:25.971022+00:00"}