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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...

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Detalles Bibliográficos
Autores principales: Eberle, Henry, Nasuto, Slawomir J., Hayashi, Yoshikatsu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: The Royal Society Publishing 2018
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.
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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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