Related papers: Neuromorphic Control of a Pendulum
We consider the problem of modeling, estimating, and controlling the latent state of a spatiotemporally evolving continuous function using very few sensor measurements and actuator locations. Our solution to the problem consists of two…
Bio-inspired neuromorphic cameras asynchronously record pixel brightness changes and generate sparse event streams. They can capture dynamic scenes with little motion blur and more details in extreme illumination conditions. Due to the…
This study investigates the performance of cascade PID control architecture applied to an inverted pendulum on a cart system through both simulation and experimental implementation. A nonlinear model of the system was developed using…
The paper deals with local robust feedback synthesis for systems with multidimensional control and unknown bounded perturbations. Using V.~I.~Korobov's controllability function method, we construct a bounded control which steers an…
Neuromodulation techniques have emerged as promising approaches for treating a wide range of neurological disorders, precisely delivering electrical stimulation to modulate abnormal neuronal activity. While leveraging the unique…
In the context of event-triggered control, the timing of the triggering events carries information about the state of the system that can be used for stabilization. At each triggering event, not only can information be transmitted by the…
Reconfigurable robots are at the forefront of robotics innovation due to their unmatched versatility and adaptability in addressing various tasks through collaborative operations. This paper explores the design and implementation of a novel…
Diluted neural networks with continuous neurons and nonmonotonic transfer function are studied, with both fixed and dynamic synapses. A noisy stimulus with periodic variance results in a mechanism for controlling chaos in neural systems…
Controlling continuous-time dynamical systems is generally a two step process: first, identify or model the system dynamics with differential equations, then, minimize the control objectives to achieve optimal control function and optimal…
Since the first recordings made of evoked action potentials it has become apparent that the responses of individual neurons to ongoing physiologically relevant input, are highly variable. This variability is manifested in non-stationary…
We address the problem of stability of motor actions implemented by the central nervous system based on simple algorithms potentially reflecting physical (including physiological) processes within the body. A number of conceptually simple…
Flying insects are capable of vision-based navigation in cluttered environments, reliably avoiding obstacles through fast and agile maneuvers, while being very efficient in the processing of visual stimuli. Meanwhile, autonomous micro air…
We present a fluid-dynamic model for the simulation of urban traffic networks with road sections of different lengths and capacities. The model allows one to efficiently simulate the transitions between free and congested traffic, taking…
We study dynamics of an wheeled inverted pendulum under a proportional-integral-derivative controller on horizontal, inclined and soft surfaces. An oscillatory area and conditions of the stability for the control are shown on the phase…
All systolic or distributed neuromorphic architectures require power-efficient processing nodes. In this paper, a unifying tutorial is presented which implements multiple neuromorphic processing elements using a systematic analog approach…
Soft robots manufactured with flexible materials can be highly compliant and adaptive to their surroundings, which facilitates their application in areas such as dexterous manipulation and environmental exploration. This paper aims at…
The nervous system displays a variety of rhythms in both waking and sleep. These rhythms have been closely associated with different behavioral and cognitive states, but it is still unknown how the nervous system makes use of these rhythms…
We propose novel event-triggered synergistic controllers for nonlinear continuous-time plants by incorporating event-triggered control into stabilizing synergistic controllers. We highlight that a naive application of common…
We propose and experimentally demonstrate a feedback control method that allows synchronizing the motion of a chain of several coupled nonlinear oscillators actuated through one end of the chain. The chain considered in this work is a…
We develop autonomous agents fighting with each other, inspired by human wrestling. For this purpose, we propose a coupled inverted pendula (CIP) framework in which: 1) tips of two inverted pendulums are linked by a connection rod, 2) each…