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

K. Kosuge; K. Furuta; T. Yokoyama

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

K. Kosuge, K. Furuta, T. Yokoyama

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English
Title of host publication	Unknown Host Publication Title
Publisher	IEEE
Pages	489-494
Number of pages	6
ISBN (Print)	0818607610
Publication status	Published - 1987 Jan 1
Externally published	Yes

ASJC Scopus subject areas

Engineering(all)

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Cite this

@inproceedings{561f9c8c4f13472d9d9e9ada162d3b9f,

title = "CONTROL ARCHITECTURE FOR INTELLIGENT MECHANICAL SYSTEM: VIRTUAL INTERNAL MODEL FOLLOWING CONTROL.",

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.",

author = "K. Kosuge and K. Furuta and T. Yokoyama",

year = "1987",

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day = "1",

language = "English",

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publisher = "IEEE",

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AU - Furuta, K.

AU - Yokoyama, T.

PY - 1987/1/1

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N2 - 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.

AB - 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.

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M3 - Conference contribution

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BT - Unknown Host Publication Title

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