{"_buckets": {"deposit": "69bff761-b0de-44ce-b66b-882d96c61db6"}, "_deposit": {"id": "3760", "owners": [], "pid": {"revision_id": 0, "type": "depid", "value": "3760"}, "status": "published"}, "_oai": {"id": "oai:niigata-u.repo.nii.ac.jp:00003760", "sets": ["454", "425"]}, "author_link": ["45184", "45185", "45186", "45187", "45188", "45189"], "control_number": "3760", "item_5_alternative_title_1": {"attribute_name": "その他のタイトル", "attribute_value_mlt": [{"subitem_alternative_title": "Sliding Mode Control Electric Power Assist Systems"}]}, "item_5_biblio_info_6": {"attribute_name": "書誌情報", "attribute_value_mlt": [{"bibliographicIssueDates": {"bibliographicIssueDate": "2006-09", "bibliographicIssueDateType": "Issued"}, "bibliographicIssueNumber": "721", "bibliographicPageEnd": "2844", "bibliographicPageStart": "2838", "bibliographicVolumeNumber": "72", "bibliographic_titles": [{"bibliographic_title": "日本機械学会論文集. C編"}, {"bibliographic_title": "日本機械学会論文集. C編", "bibliographic_titleLang": "en"}]}]}, "item_5_description_4": {"attribute_name": "抄録", "attribute_value_mlt": [{"subitem_description": "This paper presents a nonlinear controller for electric power assist systems based on the sliding mode control. The proposed sliding mode controller is designed to achieve desired nonlinear properties including gravitational effect with robustness against disturbances such as friction force and modeling errors. Furthermore, so-called reaching phase is positively utilized so that the operator can feel disturbance torque of relatively large amplitude which should be noticed as information about environment, for example, when hitting an obstacle accidentally. Since the reaching phase should be designed from several points of view, the dynamics in the reaching phase is linearlized in order to use fruitful linear control theories such as H_∞ theory.", "subitem_description_type": "Abstract"}]}, "item_5_full_name_3": {"attribute_name": "著者別名", "attribute_value_mlt": [{"nameIdentifiers": [{"nameIdentifier": "45187", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Yokoyama, Makoto"}]}, {"nameIdentifiers": [{"nameIdentifier": "45188", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Kawasaki, Takafumi"}]}, {"nameIdentifiers": [{"nameIdentifier": "45189", "nameIdentifierScheme": "WEKO"}], "names": [{"name": "Tsuchiya, Masahiko"}]}]}, "item_5_publisher_7": {"attribute_name": "出版者", "attribute_value_mlt": [{"subitem_publisher": "日本機械学会"}]}, "item_5_relation_12": {"attribute_name": "論文ID（NAID）", "attribute_value_mlt": [{"subitem_relation_type_id": {"subitem_relation_type_id_text": "110004811603", "subitem_relation_type_select": "NAID"}}]}, "item_5_rights_15": {"attribute_name": "権利", "attribute_value_mlt": [{"subitem_rights": "日本機械学会"}, {"subitem_rights": "本文データは学会の許諾に基づくCiNiiからの複製である"}]}, "item_5_select_19": {"attribute_name": "著者版フラグ", "attribute_value_mlt": [{"subitem_select_item": "publisher"}]}, "item_5_source_id_11": {"attribute_name": "書誌レコードID", "attribute_value_mlt": [{"subitem_source_identifier": "AN00187463", "subitem_source_identifier_type": "NCID"}]}, "item_5_source_id_9": {"attribute_name": "ISSN", "attribute_value_mlt": [{"subitem_source_identifier": "03875024", "subitem_source_identifier_type": "ISSN"}]}, "item_creator": {"attribute_name": "著者", "attribute_type": "creator", "attribute_value_mlt": [{"creatorNames": [{"creatorName": "横山, 誠"}], "nameIdentifiers": [{"nameIdentifier": "45184", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "川崎, 貴史"}], "nameIdentifiers": [{"nameIdentifier": "45185", "nameIdentifierScheme": "WEKO"}]}, {"creatorNames": [{"creatorName": "土屋, 雅彦"}], "nameIdentifiers": [{"nameIdentifier": "45186", "nameIdentifierScheme": "WEKO"}]}]}, "item_files": {"attribute_name": "ファイル情報", "attribute_type": "file", "attribute_value_mlt": [{"accessrole": "open_date", "date": [{"dateType": "Available", "dateValue": "2019-07-30"}], "displaytype": "detail", "download_preview_message": "", "file_order": 0, "filename": "1_0003.pdf", "filesize": [{"value": "584.9 kB"}], "format": "application/pdf", "future_date_message": "", "is_thumbnail": false, "licensetype": "license_free", "mimetype": "application/pdf", "size": 584900.0, "url": {"label": "1_0003.pdf", "url": "https://niigata-u.repo.nii.ac.jp/record/3760/files/1_0003.pdf"}, "version_id": "507c25eb-7c3a-47c8-bb11-3f6b06570e2f"}]}, "item_keyword": {"attribute_name": "キーワード", "attribute_value_mlt": [{"subitem_subject": "Power Assist", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Sliding Mode Control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Reaching Phase", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Nonlinear Control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Robust Control", "subitem_subject_scheme": "Other"}, {"subitem_subject": "Servo Mechanism", "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": "journal article", "resourceuri": "http://purl.org/coar/resource_type/c_6501"}]}, "item_title": "電動パワーアシスト装置のスライディングモード制御", "item_titles": {"attribute_name": "タイトル", "attribute_value_mlt": [{"subitem_title": "電動パワーアシスト装置のスライディングモード制御", "subitem_title_language": "ja"}]}, "item_type_id": "5", "owner": "1", "path": ["454", "425"], "permalink_uri": "http://hdl.handle.net/10191/6224", "pubdate": {"attribute_name": "PubDate", "attribute_value": "2008-04-08"}, "publish_date": "2008-04-08", "publish_status": "0", "recid": "3760", "relation": {}, "relation_version_is_last": true, "title": ["電動パワーアシスト装置のスライディングモード制御"], "weko_shared_id": -1}