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Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay
We present a novel way of using a dynamical model for predictive tracking control that can adapt to a wide range of delays without parameter update. This is achieved by incorporating the paradigm of anticipating synchronization (AS), where a ‘slave’ system predicts a ‘master’ via delayed self-feedba...
Autores principales: | , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
The Royal Society Publishing
2018
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5882674/ https://www.ncbi.nlm.nih.gov/pubmed/29657750 http://dx.doi.org/10.1098/rsos.171314 |
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author | Eberle, Henry Nasuto, Slawomir J. Hayashi, Yoshikatsu |
author_facet | Eberle, Henry Nasuto, Slawomir J. Hayashi, Yoshikatsu |
author_sort | Eberle, Henry |
collection | PubMed |
description | We present a novel way of using a dynamical model for predictive tracking control that can adapt to a wide range of delays without parameter update. This is achieved by incorporating the paradigm of anticipating synchronization (AS), where a ‘slave’ system predicts a ‘master’ via delayed self-feedback. By treating the delayed output of the plant as one half of a ‘sensory’ AS coupling, the plant and an internal dynamical model can be synchronized such that the plant consistently leads the target’s motion. We use two simulated robotic systems with differing arrangements of the plant and internal model (‘parallel’ and ‘serial’) to demonstrate that this form of control adapts to a wide range of delays without requiring the parameters of the controller to be changed. |
format | Online Article Text |
id | pubmed-5882674 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2018 |
publisher | The Royal Society Publishing |
record_format | MEDLINE/PubMed |
spelling | pubmed-58826742018-04-13 Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay Eberle, Henry Nasuto, Slawomir J. Hayashi, Yoshikatsu R Soc Open Sci Engineering We present a novel way of using a dynamical model for predictive tracking control that can adapt to a wide range of delays without parameter update. This is achieved by incorporating the paradigm of anticipating synchronization (AS), where a ‘slave’ system predicts a ‘master’ via delayed self-feedback. By treating the delayed output of the plant as one half of a ‘sensory’ AS coupling, the plant and an internal dynamical model can be synchronized such that the plant consistently leads the target’s motion. We use two simulated robotic systems with differing arrangements of the plant and internal model (‘parallel’ and ‘serial’) to demonstrate that this form of control adapts to a wide range of delays without requiring the parameters of the controller to be changed. The Royal Society Publishing 2018-03-14 /pmc/articles/PMC5882674/ /pubmed/29657750 http://dx.doi.org/10.1098/rsos.171314 Text en © 2018 The Authors. http://creativecommons.org/licenses/by/4.0/ Published by the Royal Society under the terms of the Creative Commons Attribution License http://creativecommons.org/licenses/by/4.0/, which permits unrestricted use, provided the original author and source are credited. |
spellingShingle | Engineering Eberle, Henry Nasuto, Slawomir J. Hayashi, Yoshikatsu Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay |
title | Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay |
title_full | Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay |
title_fullStr | Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay |
title_full_unstemmed | Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay |
title_short | Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay |
title_sort | anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay |
topic | Engineering |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5882674/ https://www.ncbi.nlm.nih.gov/pubmed/29657750 http://dx.doi.org/10.1098/rsos.171314 |
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