相关论文: Internal Feedback in Biological Control: Locality …

Feedback is ubiquitous in both biological and engineered control systems. In biology, in addition to typical feedback between plant and controller, we observe feedback pathways within control systems, which we call internal feedback…

Neural architectures in organisms support efficient and robust control that is beyond the capability of engineered architectures. Unraveling the function of such architectures is challenging; their components are highly diverse and…

Animals move smoothly and reliably in unpredictable environments. Models of sensorimotor control have assumed that sensory information from the environment leads to actions, which then act back on the environment, creating a single,…

System Level Synthesis (SLS) allows us to construct internally stabilizing controllers for large-scale systems. However, solving large-scale SLS problems is computationally expensive and the state-of-the-art methods consider only state…

A new brain model is introduced, based on the Impulse Pattern Formulation (IPF) already established for modeling and understanding musical instrument and rhythm perception and production. It assumes the brain works with impulses, neural…

Distributed control of large-scale systems is challenging due to the need for scalable and localized communication and computation. In this work, we introduce a Predictive System-Level Synthesis PredSLS framework that designs controllers by…

Descending predictive feedback (DPF) is an ubiquitous yet unexplained phenomenon in the central nervous system. Motivated by recent observations on motor-related signals in the visual system, we approach this problem from a sensorimotor…

The oscillatory nature of the cortical local field potential (LFP) is commonly interpreted as a reflection of synchronized network activity, but its relationship to observed transient coincident firing of neurons on the millisecond…

Distributed linear control design is crucial for large-scale cyber-physical systems. It is generally desirable to both impose information exchange (communication) constraints on the distributed controller, and to limit the propagation of…

This paper addresses the problem of designing distributed controllers with state and input constraints in the System Level Synthesis (SLS) framework. Using robust optimization, we show how state and actuation constraints can be incorporated…

In this article, we study the linear time-invariant state-feedback controller design problem for distributed systems. We follow the recently developed system level synthesis (SLS) approach and impose locality structure on the resulting…

The System Level Synthesis (SLS) approach facilitates distributed control of large cyberphysical networks in an easy-to-understand, computationally scalable way. We present an overview of the SLS approach and its associated extensions in…

The apparent stochasticity of in-vivo neural circuits has long been hypothesized to represent a signature of ongoing stochastic inference in the brain. More recently, a theoretical framework for neural sampling has been proposed, which…

Local field potentials (LFPs) are routinely measured experimentally in brain tissue, and exhibit strong low-pass frequency filtering properties, with high frequencies (such as action potentials) being visible only at very short distances…

Oscillations in the local field potential (LFP) of the brain are key signatures of neural information processing. Perturbing these oscillations at specific phases in order to alter neural information processing is an area of active…

This paper addresses the problem of designing an optimal output feedback controller with a specified controller structure for linear time-invariant (LTI) systems to maximize the passivity level for the closed-loop system, in both…

Local Field potential (LFP) in the basal ganglia (BG) nuclei in the brain have attracted much research and clinical interest. However, the origin of this signal is still under debate throughout the last decades. The question is whether it…

This paper designs H2 and H-infinity distributed controllers with local communication and local disturbance rejection. We propose a two-step procedure: first, select closed-loop poles; then, optimize over parameterized controllers. We build…

Biological and advanced cyberphysical control systems often have limited, sparse, uncertain, and distributed communication and computing in addition to sensing and actuation. Fortunately, the corresponding plants and performance…

This article surveys the System Level Synthesis framework, which presents a novel perspective on constrained robust and optimal controller synthesis for linear systems. We show how SLS shifts the controller synthesis task from the design of…