Related papers: Neuromorphic Control of a Pendulum
Neuromorphic engineering is an emerging research domain that aims to realize important implementation advantages that brain-inspired technologies can offer over classical digital technologies, including energy efficiency, adaptability, and…
Neuromorphic control is receiving growing attention due to the multifaceted advantages it brings over more classical control approaches, including: sparse and on-demand sensing, information transmission, and actuation; energy-efficient…
Neuromorphic engineering is a rapidly developing field that aims to take inspiration from the biological organization of neural systems to develop novel technology for computing, sensing, and actuating. The unique properties of such systems…
Event-based control, unlike analogue control, poses significant analytical challenges due to its hybrid dynamics. This work investigates the stability and inter-event time properties of a control-affine system under event-based impulsive…
Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which…
The single, double, and triple pendulum has served as an illustrative experimental benchmark system for scientists to study dynamical behavior for more than four centuries. The pendulum system exhibits a wide range of interesting behaviors,…
Neuromorphic computing is a new paradigm for design of both the computing hardware and algorithms inspired by biological neural networks. The event-based nature and the inherent parallelism make neuromorphic computing a promising paradigm…
In this paper we analyze a neuromorphic controller, inspired by the leaky integrate-and-fire neuronal model, in closed-loop with a single-input single-output linear time-invariant system. The controller consists of two neuron-like variables…
Excitable neuromorphic circuits are physical models of event behaviors: their continuous-time trajectories consist of sequences of discrete events. This paper explores the possibility of extracting a discrete-event model out of the physical…
If one wants to explore the properties of a dynamical system systematically one has to be able to track equilibria and periodic orbits regardless of their stability. If the dynamical system is a controllable experiment then one approach is…
In exploring the simulation of human rhythmic perception and synchronization capabilities, this study introduces a computational model inspired by the physical and biological processes underlying rhythm processing. Utilizing a reservoir…
Intermittent control has a long history in the physiological literature and there is strong experimental evidence that some human control systems are intermittent. Intermittent control has also appeared in various forms in the engineering…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…
The paper presents a hybrid system controller, incorporating a neural and an LQG controller. The neural controller has been optimized by genetic algorithms directly on the inverted pendulum system. The failure free optimization process…
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a two-wheeled inverted pendulum robot via W-LAN…
We present a novel methodology to enable control of a neuromorphic circuit in close analogy with the physiological neuromodulation of a single neuron. The methodology is general in that it only relies on a parallel interconnection of…
Event-based vision sensors achieve up to three orders of magnitude better speed vs. power consumption trade off in high-speed control of UAVs compared to conventional image sensors. Event-based cameras produce a sparse stream of events that…
Robotic navigation has historically struggled to reconcile reactive, sensor-based control with the decisive capabilities of model-based planners. This duality becomes critical when the absence of a predominant option among goals leads to…
Networked control systems enable real-time control and coordination of distributed systems, leveraging the low latency, high reliability, and massive connectivity offered by 5G and future 6G networks. Applications include autonomous…
We propose a biologically inspired model of spiking neurons based on the dynamics of a damped, driven pendulum. Unlike traditional models such as the Leaky Integrate-and-Fire (LIF) neurons, the pendulum neuron incorporates second-order,…