{"created":"2024-10-15T05:16:48.783858+00:00","id":2011937,"links":{},"metadata":{"_buckets":{"deposit":"905a3e71-e231-4dfa-b653-6d4bcb33b268"},"_deposit":{"created_by":10,"id":"2011937","owners":[10],"pid":{"revision_id":0,"type":"depid","value":"2011937"},"status":"published"},"_oai":{"id":"oai:fra.repo.nii.ac.jp:02011937","sets":["1:6:1724312740562"]},"author_link":["2839"],"control_number":"2011937","item_10002_biblio_info_7":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2010-03","bibliographicIssueDateType":"Issued"},"bibliographicIssueNumber":"3","bibliographicNumberOfPages":"7","bibliographicPageEnd":"205","bibliographicPageStart":"199","bibliographicVolumeNumber":"58","bibliographic_titles":[{"bibliographic_title":"水産大学校研究報告","bibliographic_titleLang":"ja"},{"bibliographic_title":"Journal of National Fisheries University","bibliographic_titleLang":"en"}]}]},"item_10002_description_5":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"In this report, a robust controller for underwater robots equipped with a manipulator (underwater robot manipulators) is developed to overcome uncertainties in robot dynamics and hydrodynamic forces. The proposed controller has the following features : (1) the structure of the controller is very simple in comparison with that of an adaptive controller using a regressor of a robot dynamic equation ; (2) the controller is developed without using a function specific to sliding mode type robust control, such as a signum function and a saturation function, which often leads to oscillations in control inputs; and (3) the maximum value of a tracking error norm can be arbitrarily reduced by setting controller design parameters. Furthermore, numerical simulations whose model is a 2 link planar underwater robot manipulator are performed. The simulation results demonstrate the validity of the theoretical results (the controller features).","subitem_description_language":"en","subitem_description_type":"Abstract"}]},"item_10002_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"水産大学校","subitem_publisher_language":"ja"},{"subitem_publisher":"National Fisheries University","subitem_publisher_language":"en"}]},"item_10002_relation_16":{"attribute_name":"情報源","attribute_value_mlt":[{"subitem_relation_type_id":{"subitem_relation_type_id_text":"fishu_k_58_199","subitem_relation_type_select":"Local"}}]},"item_10002_relation_17":{"attribute_name":"関連サイト","attribute_value_mlt":[{"subitem_relation_name":[{"subitem_relation_name_language":"en","subitem_relation_name_text":"agriknowledge"}],"subitem_relation_type_id":{"subitem_relation_type_id_text":"https://agriknowledge.affrc.go.jp/RN/2010792861","subitem_relation_type_select":"URI"}}]},"item_10002_source_id_11":{"attribute_name":"書誌レコードID","attribute_value_mlt":[{"subitem_source_identifier":"AN00124678","subitem_source_identifier_type":"NCID"}]},"item_10002_source_id_9":{"attribute_name":"ISSN","attribute_value_mlt":[{"subitem_source_identifier":"0370-9361","subitem_source_identifier_type":"PISSN"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"open access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_abf2"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorAffiliations":[{"affiliationNameIdentifiers":[],"affiliationNames":[{"affiliationName":"","affiliationNameLang":"ja"}]}],"creatorNames":[{"creatorName":"Taira, Yuichiro","creatorNameLang":"en"},{"creatorName":"平, 雄一郎","creatorNameLang":"ja"},{"creatorName":"タイラ, ユウイチロウ","creatorNameLang":"ja-Kana"}],"familyNames":[{"familyName":"Taira","familyNameLang":"en"},{"familyName":"平","familyNameLang":"ja"},{"familyName":"タイラ","familyNameLang":"ja-Kana"}],"givenNames":[{"givenName":"Yuichiro","givenNameLang":"en"},{"givenName":"雄一郎","givenNameLang":"ja"},{"givenName":"ユウイチロウ","givenNameLang":"ja-Kana"}],"nameIdentifiers":[{"nameIdentifier":"2839","nameIdentifierScheme":"WEKO"}]}]},"item_files":{"attribute_name":"ファイル情報","attribute_type":"file","attribute_value_mlt":[{"accessrole":"open_access","date":[{"dateType":"Available","dateValue":"2024-10-11"}],"filename":"fishu_k_58_199.pdf","filesize":[{"value":"392.1 KB"}],"format":"application/pdf","licensetype":"license_0","mimetype":"application/pdf","url":{"url":"https://fra.repo.nii.ac.jp/record/2011937/files/fishu_k_58_199.pdf"},"version_id":"52848b44-daf3-46c2-a091-ac5495a9f2fc"}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"fishery engineering; underwater robot; manipulator; robust control; time-varying feedback gain","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":"時変フィードバックゲインを用いた水中ロボットマニピュレータのロバスト制御","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"時変フィードバックゲインを用いた水中ロボットマニピュレータのロバスト制御","subitem_title_language":"ja"},{"subitem_title":"Robust control for underwater robot manipulators with a time-varying feedback gain","subitem_title_language":"en"}]},"item_type_id":"10002","owner":"10","path":["1724312740562"],"pubdate":{"attribute_name":"PubDate","attribute_value":"2024-10-11"},"publish_date":"2024-10-11","publish_status":"0","recid":"2011937","relation_version_is_last":true,"title":["時変フィードバックゲインを用いた水中ロボットマニピュレータのロバスト制御"],"weko_creator_id":"10","weko_shared_id":-1},"updated":"2025-04-02T08:03:48.960217+00:00"}