Related papers: Neuromorphic Control of a Pendulum

The growing need for intelligent, adaptive, and energy-efficient autonomous systems across fields such as robotics, mobile agents (e.g., UAVs), and self-driving vehicles is driving interest in neuromorphic computing. By drawing inspiration…

We introduce a methodology to implement the physiological transition {between distinct neuronal spiking modes} in electronic circuits composed of resistors, capacitors and transistors. The result is a simple neuromorphic device organized by…

In this paper, we synthesize two aperiodic-sampled deep neural network (DNN) control schemes, based on the closed-loop tracking stability guarantees. By means of the integral quadratic constraint coping with the input-output behaviour of…

By the recent spread of machine learning in the robotics field, a humanoid that can act, perceive, and learn in the real world through contact with the environment needs to be developed. In this study, as one of the choices, we propose a…

This paper studies the tracking control problem of networked and quantized control systems under both multiple networks and event-triggered mechanisms. Multiple networks are to connect the plant and reference system with decentralized…

Beyond providing accurate movements, achieving smooth motion trajectories is a long-standing goal of robotics control theory for arms aiming to replicate natural human movements. Drawing inspiration from biological agents, whose reaching…

Previous work showed that the collective activity of large neuronal networks can be tamed to remain near its critical point by a feedback control that maximizes the temporal correlations of the mean-field fluctuations. Since such…

This paper discusses elements of a control theory of systems comprised of networks of simple agents that collectively achieve sensing and actuation goals despite having strictly limited capability when acting alone. The goal is to…

Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to…

Event-triggered networked control of a linear dynamical system is investigated. Specifically, the dynamical system and the controller are assumed to be connected through a communication channel. State and control input information packets…

Biological sensing and processing is asynchronous and sparse, leading to low-latency and energy-efficient perception and action. In robotics, neuromorphic hardware for event-based vision and spiking neural networks promises to exhibit…

The presence of physical systems whose characteristics change in a seemingly erratic manner gives rise to the study of chaotic systems. The characteristics of these systems are due to their hypersensitivity to changes in initial conditions.…

This paper presents an intelligent controller for uncertain underactuated nonlinear systems. The adopted approach is based on sliding mode control and enhanced by an artificial neural network to cope with modeling inaccuracies and external…

This paper studies periodic event-triggered networked control for nonlinear systems, where the plants and controllers are connected by multiple independent communication channels. Several network-induced imperfections are considered…

We studied neural automata -or neurobiologically inspired cellular automata- which exhibits chaotic itinerancy among the different stored patterns or memories. This is a consequence of activity-dependent synaptic fluctuations, which…

We present a technique to control chaos in Hamiltonian systems which are close to integrable. By adding a small and simple control term to the perturbation, the system becomes more regular than the original one. We apply this technique to a…

A novel continuous-time framework is proposed for modeling neuromorphic image sensors in the form of an initial canonical representation with analytical tractability. Exact simulation algorithms are developed in parallel with closed-form…

This paper presents the control and stabilization of the rotary inverted pendulum based on a general controller scheme. The proposed scheme has its foundation in classical control theory, and the importance of an integrator in disturbance…

The stability of standing in humans is a complex process that leads to maintaining the upright position against external disturbances. Balance control during standing is of vital importance for humans in daily life. An issue that is still…

In reactor-grade tokamaks, pellet injection is the best candidate for core plasma fuelling. However, density control schemes that can handle the hybrid nature of this type of fuelling, i.e., the discrete impact of the pellets on the…