A Neuro-Inspired Spike-Based PID Motor Controller for Multi-Motor Robots with Low Cost FPGAs

Sensors

Angel Jimenez-Fernandez¹  Gabriel Jimenez-Moreno²  Alejandro Linares-Barranco²  Manuel J. Dominguez-Morales²  Rafael Paz-Vicente² 

[1] Deparment of Computer Architecture and Technology, Universidad de Sevilla, ETSI Informátca, Avd. Reina Mercedes s/n, 41012 Sevilla, Spain;

关键词: neuro-controllers;    neuromorphic engineering;    bio-inspired systems and control;    control system analysis;    programmable logic devices;    pulse frequency modulation;    sensor-motor integration;   

DOI  :  10.3390/s120403831

来源: mdpi

【 摘 要 】

In this paper we present a neuro-inspired spike-based close-loop controller written in VHDL and implemented for FPGAs. This controller has been focused on controlling a DC motor speed, but only using spikes for information representation, processing and DC motor driving. It could be applied to other motors with proper driver adaptation. This controller architecture represents one of the latest layers in a Spiking Neural Network (SNN), which implements a bridge between robotics actuators and spike-based processing layers and sensors. The presented control system fuses actuation and sensors information as spikes streams, processing these spikes in hard real-time, implementing a massively parallel information processing system, through specialized spike-based circuits. This spike-based close-loop controller has been implemented into an AER platform, designed in our labs, that allows direct control of DC motors: the AER-Robot. Experimental results evidence the viability of the implementation of spike-based controllers, and hardware synthesis denotes low hardware requirements that allow replicating this controller in a high number of parallel controllers working together to allow a real-time robot control.

【 授权许可】

CC BY   
© 2012 by the authors; licensee MDPI, Basel, Switzerland