Title :
A simple neuron servo
Author :
DeWeerth, Stephen P. ; Nielsen, Lars ; Mead, Carver A. ; Åström, Karl J.
Author_Institution :
Dept. of Comput. Sci., California Inst. of Technol., Pasadena, CA, USA
fDate :
3/1/1991 12:00:00 AM
Abstract :
A simple servo controller built from components having neuronlike features is described. This VLSI servo controller uses pulses for control and is orders of magnitude smaller than a conventional system. The basic circuit elements are described. A key element is a component and neuronlike capability that takes voltages as inputs and generates a pulse train as the output. It is shown how the circuits are combined to a proportional and derivative controller. The advantages of using a pulsed output representation to improve slow-speed operation of a friction-limited system is demonstrated. The utility of exploiting parallelism, aggregation, and redundancy to improve system-level performance given imprecise low-level components is discussed. Experimental results illustrate the properties of the system compared with conventional controllers
Keywords :
VLSI; controllers; neural nets; servomechanisms; two-term control; PD control; VLSI; friction-limited system; neural nets; neuron servo; pulse train; servo controller; Actuators; Circuits; Control systems; Muscles; Neurons; PD control; Servomechanisms; Silicon; Very large scale integration; Voltage;
Journal_Title :
Neural Networks, IEEE Transactions on
