Related papers: Neuromorphic Control of a Pendulum
Unlike traditional cameras which synchronously register pixel intensity, neuromorphic sensors only register `changes' at pixels where a change is occurring asynchronously. This enables neuromorphic sensors to sample at a micro-second level…
A framework for performing event-driven, adaptive time step simulations of systems of rigid bodies interacting under stepped or terraced potentials in which the potential energy is only allowed to have discrete values is outlined. The…
This paper studies impulsive stabilization of nonlinear systems. We propose two types of event-triggering algorithms to update the impulsive control signals with actuation delays. The first algorithm is based on continuous event detection,…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
This paper proposes an event-triggered polynomial control method for trajectory tracking by unicycle robots. In this method, each control input between two consecutive events is a polynomial and its coefficients are chosen to minimize the…
We develop a learning-based algorithm for the control of autonomous systems governed by unknown, nonlinear dynamics to satisfy user-specified spatio-temporal tasks expressed as signal temporal logic specifications. Most existing algorithms…
Stylized models of the neurodynamics that underpin sensory motor control in animals are proposed and studied. The voluntary motions of animals are typically initiated by high level intentions created in the primary cortex through a…
Neuromorphic computing exploits the dynamical analogy between many physical systems and neuron biophysics. Superconductor systems, in particular, are excellent candidates for neuromorphic devices due to their capacity to operate in great…
The coupling of human movement dynamics with the function and design of wearable assistive devices is vital to better understand the interaction between the two. Advanced neuromuscular models and optimal control formulations provide the…
The purpose of this paper is to illustrate, in an experimental facility consisting of a simple pendular device, the performance of a sliding mode adaptive position-feedback tracking controller of mechanical systems with friction reported in…
Neurons communicate with downstream systems via sparse and incredibly brief electrical pulses, or spikes. Using these events, they control various targets such as neuromuscular units, neurosecretory systems, and other neurons in connected…
Neuromorphic computing systems comprise networks of neurons that use asynchronous events for both computation and communication. This type of representation offers several advantages in terms of bandwidth and power consumption in…
In this work, leader follower consensus objective has been addressed with the synthesis of an event based controller utilizing sliding mode robust control. The schema has been partitioned into two parts viz. finite time consensus problem…
The development of artificial intelligence towards real-time interaction with the environment is a key aspect of embodied intelligence and robotics. Inverse dynamics is a fundamental robotics problem, which maps from joint space to torque…
Spikes and rhythms organize control and communication in the animal world, in contrast to the bits and clocks of digital technology. As continuous-time signals that can be counted, spikes have a mixed nature. This paper reviews ongoing…
The looping pendulum is a simple physical system consisting of two masses connected by a string that passes over a rod. We derive equations of motion for the looping pendulum using Newtonian mechanics, and show that these equations can be…
In this paper, we explore the conditions for asymptotic stability of the hybrid closed-loop system resulting from the interconnection of a nonlinear plant, an intelligent sensor that generates finite-time convergent estimates of the plant…
Coupled human balancing tasks are investigated based on both pseudo-neural controllers characterized by time-delayed feedback with random gain and natural human balancing tasks. It is shown numerically that, compared to single balancing…
The objective of this note is to share some reflections of the authors regarding the use of sliding mode designs in control systems. We believe the abundant, and ever increasing, appearance of this kind of works on our scientific…
Inverted pendulums constitute one of the popular systems for benchmarking control algorithms. Several methods have been proposed for the control of this system, the majority of which rely on the availability of a mathematical model.…