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Anticipation from sensation: using anticipating synchronisation to stabilise a system with inherent sensory delay

Eberle, H., Nasuto, S. and Hayashi, Y. (2018) Anticipation from sensation: using anticipating synchronisation to stabilise a system with inherent sensory delay. Royal Society Open Science, 5 (3). 171314. ISSN 2054-5703

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To link to this item DOI: 10.1098/rsos.171314

Abstract/Summary

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 synchronisation (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 synchronised 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.

Item Type:Article
Refereed:Yes
Divisions:Faculty of Life Sciences > School of Biological Sciences > Department of Bio-Engineering
ID Code:75627
Publisher:The Royal Society

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