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arXiv · 2404.05339

Neuromorphic Control of a Pendulum

Raphael Schmetterling·Fulvio Forni·Alessio Franci·Rodolphe Sepulchre
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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.

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Raphael Schmetterling, Fulvio Forni, Alessio Franci, Rodolphe Sepulchre. 2024-04-08. Neuromorphic Control of a Pendulum. https://doi.org/10.1109/lcsys.2024.3409093

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