Event
Pulse Neural Controller Stabilizes Periodic Orbits of Underactuated Robots
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Maksim Surov and Oleg Sumenkov propose a pulse neural feedback controller based on Lyapunov greedy design for stabilizing periodic orbits of underactuated robots. Through transverse linearization, the authors transform the orbit stabilization problem into the stabilization of the trivial solution of a periodic linear time-varying system, and extend the Lyapunov greedy design originally intended for linear time-invariant systems to this periodic linear time-varying transverse dynamics, thereby constructing an event-driven pulse controller. The authors claim that the method is demonstrated to be effective on the trajectory stabilization problem of the butterfly robot; this demonstration is limited to that robot scenario, and it has not been stated that it can be generalized to other systems.
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- Spiking Neuromorphic Controller Stabilizes Periodic Orbits in Underactuated Robots: A Greedy Lyapunov-Based Approach
This paper investigates event-driven spiking controllers implemented as spiking neural networks for trajectory tracking in underactuated robots, with the goal of stabilizing a prescribed periodic orbit. The authors reduce orbital stabilization to stabilizing the trivial solution of a periodic linear time-varying system via transverse linearization, and extend a Lyapunov-based greedy design originally developed for LTI systems to this periodic LTV transverse dynamics, thereby constructing a feedback controller. The method's effectiveness is demonstrated on the trajectory stabilization problem for the butterfly robot.
arXiv cs.RO ·