NOCH: A framework for biologically plausible models of neural motor control

Motor control;control theory;neural motor control;optimal;hierarchical;Computer Science

DeWolf, Travis

University of Waterloo

关键词: Motor control;    control theory;    neural motor control;    optimal;    hierarchical;    Computer Science;   

Others  :  https://uwspace.uwaterloo.ca/bitstream/10012/4949/1/main.pdf

瑞士|英语

来源: UWSPACE Waterloo Institutional Repository

【 摘 要 】

This thesis examines the neurobiological components of the motor control system and relates it to current control theory in order to develop a novel framework for models of motor control in the brain. The presented framework is called the Neural Optimal Control Hierarchy (NOCH). A method of accounting for low level system dynamics with a Linear Bellman Controller (LBC) on top of a hierarchy is presented, as well as a dynamic scaling technique for LBCs that drastically reduces the computational power and storage requirements of the system. These contributions to LBC theory allow for low cost, high-precision control of movements in large environments without exceeding the biological constraints of the motor control system.