An alternative architecture for a servo controller for intelligent mechanical systems is proposed. This architecture, called virtual internal model-following control, uses sensory information to control the deviation of the controlled variable from its reference signal. The dynamic behavior of the controlled system with respect to external information is described by a virtual internal model, which allows the mechanical system to adapt to the outside world dynamically. A virtual internal model-following controller is derived for robots.
|Title of host publication||Unknown Host Publication Title|
|Number of pages||6|
|Publication status||Published - 1987 Jan 1|
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