We illustrate the potential of neuromorphic control on the simple mechanical model of a pendulum, with both event-based actuation and sensing. The controller and the pendulum are regarded as event-based systems that occasionally interact to coordinate their respective rhythms. Control occurs through a proper timing of the interacting events. We illustrate the mixed nature of the control design: the design of a rhythmic automaton, able to generate the right sequence of events, and the design of a feedback regulator, able to tune the timing of events.
@article{arxiv.2404.05339,
title = {Neuromorphic Control of a Pendulum},
author = {Raphael Schmetterling and Fulvio Forni and Alessio Franci and Rodolphe Sepulchre},
journal= {arXiv preprint arXiv:2404.05339},
year = {2024}
}
Comments
6 pages, 10 figures. Accepted by IEEE Control Systems Letters