分岐に注目した非線形現象の安定化と利用 : 力学系理論の基礎と応用

概要

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This article introduces some types of bifurcation control methods with the aim of realizing vibration control and motion control for mechanical systems. In the first part, we deal with stabilization control methods based on bifurcation control for nonlinear resonance which is the 1/3-order subharmonic resonance in a magnetically levitated body and the hunting motion in a railway vehicle wheelset. The second part deals with positive utilizations of nonlinear phenomena by the generation and the modification of bifurcation phenomena. We propose the amplitude control method of the cantilever probe of an atomic force microscope (AFM) for the measurement of biological samples and carry out the motion control of a two link underactuated manipulator with a free link and an active link without state feedback control based on positive utilization of nonlinear phenomena.
一般社団法人日本機械学会の論文
2008-09-02