Related papers: Neuromorphic Control of a Pendulum
We consider a fully-connected network of leaky integrate-and-fire neurons with spike-timing-dependent plasticity. The plasticity is controlled by a parameter representing the expected weight of a synapse between neurons that are firing…
This work aims to raise awareness among engineering students from different disciplines on the importance of feedback control. The proposal consists in comparing the performance of different control strategies in a laboratory session,…
Neural networks modularity is a major challenge for the development of control circuits of neural activity. Under physiological limitations, the accessible regions for external stimulation are possibly different from the functionally…
Limit cycles are self-sustained, closed trajectories in phase space representing (un)-stable, periodic behavior in nonlinear dynamical systems. They underpin diverse natural phenomena, from neuronal firing patterns to engineering…
Synergies between advanced communications, computing and artificial intelligence are unraveling new directions of coordinated operation and resiliency in microgrids. On one hand, coordination among sources is facilitated by distributed,…
The ability to effectively control brain dynamics holds great promise for the enhancement of cognitive function in humans, and the betterment of their quality of life. Yet, successfully controlling dynamics in neural systems is challenging,…
In this paper, we propose a nonlinear control strategy for swinging up a pendulum to its upright equilibrium position by shaping its swinging energy along with regulating the cart to a desired location. While the base of a usual cart-pole…
How dynamic interactions between nervous system regions in mammals performs online motor control remains an unsolved problem. In this paper we show that feedback control is a simple, yet powerful way to understand the neural dynamics of…
The octopus arm is a neuromechanical system that involves a complex interplay between peripheral nervous system (PNS) and arm musculature. This makes the arm capable of carrying out rich maneuvers. In this paper, we build a model for the…
This study investigates the dynamics of a magnetic pendulum under time-varying magnetic excitation with a position-dependent phase. The system exhibits complex chaotic and regular dynamics, validated through simulations and experiments. The…
The relationship between physiological systems and modern electromechanical technologies is fast becoming intimate with high degrees of complex interaction. It can be argued that muscular function, limb movements, and touch perception serve…
This paper proposes a neuronal circuitry layout and synaptic plasticity principles that allow the (pyramidal) neuron to act as a "combinatorial switch". Namely, the neuron learns to be more prone to generate spikes given those combinations…
In this work, an intelligent controller is employed to the chaos control problem in a nonlinear pendulum. The adopted approach is based on the sliding mode control strategy and enhanced by an adaptive fuzzy algorithm to cope with modeling…
Complexity and nonlinear behaviours of inverted pendulum system make its control design a very challenging task. In this paper, a hybrid fuzzy adaptive control system using model reference approach is designed for inverted-pendulum system…
Neuromorphic engineering makes use of mixed-signal analog and digital circuits to directly emulate the computational principles of biological brains. Such electronic systems offer a high degree of adaptability, robustness, and energy…
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…
In this brief, an improved event-triggered update mechanism (ETM) for the linear quadratic regulator is proposed to solve the lateral motion control problem of intelligent vehicle under bounded disturbances. Based on a novel event function…
Using tools and techniques from geometric control theory, namely Hermann-Nagano theorem, we prove controllability result for a mechanical system consisting of a planar double inverted pendulum fixed to a wheeled cart that can move linearly…
A new hybrid tracking controller for neuromuscular electrical stimulation is proposed. The control scheme uses sampled measurements and is designed by utilizing a numerical prediction of the state variables. The tracking error of the…
Many animals meander in environments and avoid collisions. How the underlying neuronal machinery can yield robust behaviour in a variety of environments remains unclear. In the fly brain, motion-sensitive neurons indicate the presence of…