Search results for "Motor controller"
showing 3 items of 3 documents
Motor-skill learning in an insect inspired neuro-computational control system
2017
In nature, insects show impressive adaptation and learning capabilities. The proposed computational model takes inspiration from specific structures of the insect brain: after proposing key hypotheses on the direct involvement of the mushroom bodies (MBs) and on their neural organization, we developed a new architecture for motor learning to be applied in insect-like walking robots. The proposed model is a nonlinear control system based on spiking neurons. MBs are modeled as a nonlinear recurrent spiking neural network (SNN) with novel characteristics, able to memorize time evolutions of key parameters of the neural motor controller, so that existing motor primitives can be improved. The ad…
Controlling and learning motor functions
2018
Effective and adaptive motor functions are important for living beings and developing computational and learning mechanisms for roving robots is a crucial aspect in biorobotics. In this chapter we report a new architecture for motor learning to be applied in insect-like walking robots. The proposed model is based on the MB structure previously introduced able to memorize time evolutions of key parameters of the neural motor controller to improve existing motor primitives. The adopted control scheme enables the structure to efficiently cope with goal-oriented behavioural motor tasks. The problem of body-size evaluation is also considered and a model for the parallax-based estimation is provi…
Control Strategy for Induction Motor Drives Based on Decoupling Techniques
1989
Abstract In this work a new closed loop, synchronous microprocessor-based controller is proposed for field oriented controlled induction motor drives, using a PWM voltage source inverter. This controller is based on a non linear state feedback compensator which gives decoupling of both rotor current and rotor flux, and direct and inquadrature components of the stator current vector. The compensator has a linearizing effect on the synchronous model of the electromagnetic circuit of the motor. It follows that the control laws can be obtained using optimal control techniques for linear systems. The controller in question gives directly the conduction sequences of the inverter supplying the ind…