Inverse Dynamics Controllers for Robust Control: Consequences for Neurocontrollers
نویسندگان
چکیده
It is proposed that controllers that approximate the inverse dynamics of the controlled plant can be used for on-line compensation or changcM in (.he plant's dYflarni(�s. The idea is (,0 lise (,lIe vcr,V Marne controller in two modes at the same time: both for static and dynamic feedback. Implications for the learnin� of neurocontrollers are discussed. The proposed control mode relaxes the demand of precision and as a (:ons(�qlj(:ncel (:oIILr(lllen.; LhaL Ilj iliH: direcj al'll'lo(:iaLiv(: l(�arllillg llY 1f](:arlS or local rllndion apJ)f·oxirmdor·l'l rnay becorne rnol"(: Lradahlc in lliglH:r dirnensiorml spaces.
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