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In this paper, a Perceptual Motor Control Model(PMCM) based on output feedback adaptive control theory is considered from the viewpoint of voluntary movement such as hand-tracking control. We give an account of the PMCM structure using together with both of the output feedback controller designed by using an almost strict positive real characteristics for the controlled plant and the Smith predictor for plant with pure time delay. In the proposed method, the attractive structural similarity exists between the cerebrum-cerebellum neuro-motor signal feedback loop and the adaptive controller compensators local minor feedback loop. The proposed perceptual motor control model is evaluated through the comparison of between the experiment and the simulation of for handling 1-link mechanism in order to track an indicator.

A PERCEPTUAL MOTOR CONTROL MODEL BASED ON OUTPUT FEEDBACK ADAPTIVE CONTROL THEORY