CONTROL ARCHITECTURE FOR INTELLIGENT MECHANICAL SYSTEM: VIRTUAL INTERNAL MODEL FOLLOWING CONTROL.

K. Kosuge, K. Furuta, T. Yokoyama

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationUnknown Host Publication Title
PublisherIEEE
Pages489-494
Number of pages6
ISBN (Print)0818607610
Publication statusPublished - 1987 Jan 1
Externally publishedYes

ASJC Scopus subject areas

  • Engineering(all)

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