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2008 Fiscal Year Final Research Report

A Stabilization Control Based on Analytical Disturbance Estimation for Electric Bicycle

Research Project

  • PDF
Project/Area Number 19560300
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeSingle-year Grants
Section一般
Research Field 電力工学・電気機器工学
Research InstitutionKeio University

Principal Investigator

MURAKAMI Toshiyuki  Keio University, 理工学部, 教授 (00255598)

Project Period (FY) 2007 – 2008
Keywords電気機器 / モーションコントロール
Research Abstract

本研究課題では, 機械システムによる人の動作支援制御の体系化を1つの目的とし, 電動自転車のパワーアシスト制御を外乱の切り分けアルゴリズムにより実現した. ここでは, 自転車のステアリングアクチュエータによる姿勢安定化アシスト制御, 走行駆動アクチュエータによる走行負荷低減アシスト制御に関して提案を行い実験的検証を行った.

  • Research Products

    (10 results)

All 2009 2008 2007 Other

All Journal Article (3 results) (of which Peer Reviewed: 3 results) Presentation (4 results) Remarks (3 results)

  • [Journal Article] A Study on Straight Line Tracking and Posture Control in Electric Bicycle2009

    • Author(s)
      Y.Tanaka and T.Murakami
    • Journal Title

      Transactions on Industrial Electronics Vol. 56, No.1

      Pages: 159-168

    • Peer Reviewed
  • [Journal Article] バックステッピングを用いた電動自転車の姿勢安定化制御2008

    • Author(s)
      山口高志,柴田剛慶,村上俊之
    • Journal Title

      74巻5号

      Pages: 509-513

    • Peer Reviewed
  • [Journal Article] Sliding Mode Control scheme for an intelligent bicycle

    • Author(s)
      Michael Defoort and Toshiyuki Murakami
    • Journal Title

      IEEE Transactions on Industrial Electronics (掲載決定)

    • Peer Reviewed
  • [Presentation] Underactuated Two-Wheeled Mobile Manipulator Control Using Nonlinear Backstepping Method2008

    • Author(s)
      Cihan Acar and Toshiyuki Murakami
    • Organizer
      34th Annual Conference of the IEEE Industrial Electronics Society (IECON 2008)
    • Place of Presentation
      Orlando, Florida, U.S.A
    • Year and Date
      2008-11-12
  • [Presentation] Second order Sliding Mode Control with Disturbance Observer for bicycle stabilization2008

    • Author(s)
      Michael Defoort and Toshiyuki Murakami
    • Organizer
      008 IEEE/RSJ International Conference on Intelligent Robots and Systems
    • Place of Presentation
      Acropolis Convention Center Nice, France
    • Year and Date
      2008-09-25
  • [Presentation] Self-Sustaining Approach of Electric Bicycle by Acceleration Control Based Backstepping2007

    • Author(s)
      Takashi Yamaguchi, Tuyoshi Shibata, Toshiyuki Murakami
    • Organizer
      The 33rd Annual Conference of the IEEE Industrial Electronics Sciety (IECON)
    • Place of Presentation
      Taipei, Taiwan
    • Year and Date
      2007-11-06
  • [Presentation] 加速度制御に基づく一輪車の姿勢安定化制御2007

    • Author(s)
      宮下雅樹, 村上俊之
    • Organizer
      平成19年電気学会産業応用部門大会
    • Place of Presentation
      大阪工業大学
    • Year and Date
      2007-08-21
  • [Remarks] 精密工学会掲載論文は研究奨励賞(2009年3月)

  • [Remarks] 米国の科学ニュースサイト(2008 年11 月4 日掲載)

    • URL

      http://www.physorg.com/news145018303.html

  • [Remarks] Speigel Online(ドイツのWeb ニュース : 008年11月6日掲載)

    • URL

      http://www.spiegel.de/wissenschaft/mensch/0.1518.588873.00.html

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Published: 2010-06-10   Modified: 2016-04-21  

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