arXiv subjects

Raphael Schmetterling

Publications and source records attributed to Raphael Schmetterling.

3 recordsLinked to original sources

arXiv2024

Neuromorphic Control of a Pendulum

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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arXiv2023

Robust online estimation of biophysical neural circuits

The control of neuronal networks, whether biological or neuromorphic, relies on tools for estimating parameters in the presence of model uncertainty. In this work, we explore the robustness of adaptive observers for neuronal estimation. Inspired by biology, we show that decentralization and redundancy help recover the performance of a centralized recursive mean square algorithm in the presence of uncertainty and mismatch on the internal dynamics of the model.

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arXiv2022

Adaptive Conductance Control

Neuromodulation is central to the adaptation and robustness of animal nervous systems. This paper explores the classical paradigm of indirect adaptive control to design neuromodulatory controllers in conductance-based neuronal models. The adaptive control of maximal conductance parameters is shown to provide a methodology aligned with the central concepts of neuromodulation in physiology and of impedance control in robotics.

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