Learning Precisely Timed Feedforward Control of the Sensor-Denied Inverted Pendulum
| Autor: | Steven L. Brunton, Thomas L. Mohren, Thomas L. Daniel |
|---|---|
| Rok vydání: | 2020 |
| Předmět: |
0106 biological sciences
0303 health sciences Control and Optimization Computational complexity theory Feed forward Pendulum Systems and Control (eess.SY) Electrical Engineering and Systems Science - Systems and Control 010603 evolutionary biology 01 natural sciences System dynamics Inverted pendulum 03 medical and health sciences Nonlinear system Model predictive control Control and Systems Engineering Control theory FOS: Electrical engineering electronic engineering information engineering 030304 developmental biology |
| Zdroj: | IEEE Control Systems Letters. 4:731-736 |
| ISSN: | 2475-1456 |
| Popis: | Time delays due to signal latency, computational complexity, and sensor-denied environments, pose a critical challenge in both engineered and biological control systems. In this work, we investigate biologically inspired strategies to develop precisely timed feedforward control laws for engineered systems with large time delays. We demonstrate this approach on the nonlinear pendulum with partially denied observations, so that it is only possible to measure the state of the system near the upright position. Given a large disturbance that overwhelms the local feedback controller, it is necessary to add or remove energy from the pendulum so that it returns to the upright position after one full revolution. The partial observation near the upright position introduces a significant delay between observations and the region where actuation is most effective. Thus, we develop a learning algorithm that integrates sensor information into a precisely timed feedforward control signal to overcome this delay with minimal computation, training data, and set of control decisions. This simple controller can serve as a model for many biological systems, and can be implemented in engineered systems with time delays. 6 pages, 5 figures |
| Databáze: | OpenAIRE |
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