Keywords :
Actuators; Adaptive control; Automata; biologically-inspired methods; discrete event systems; distributed control; Motors; Neurons; Oscillators; robotics; Synapses; Torque; Biomimetics; Closed loop systems; Discrete event simulation; Distributed parameter control systems; Pendulums; Robotics; Adaptive Control; Automaton; Biologically inspired methods; Discrete events systems; Distributed-control; Event-based; Mechanical modeling; Neuromorphic; Simple++; Synapse; Adaptive control systems
Abstract :
[en] 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. IEEE
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