Neuromorphic Control of a Pendulum
Raphael Schmetterling, Fulvio Forni, Alessio Franci, Rodolphe Sepulchre
Abstract
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.
Topics & Concepts
Neuromorphic engineeringAutomatonInverted pendulumControl theory (sociology)PendulumEvent (particle physics)Computer scienceControl engineeringSimple (philosophy)Controller (irrigation)Control (management)EngineeringArtificial intelligenceArtificial neural networkPhysicsNonlinear systemQuantum mechanicsAgronomyMechanical engineeringEpistemologyPhilosophyBiologyAdvanced Memory and Neural ComputingNeural dynamics and brain functionNeural Networks and Applications