Event-based PID controller fully realized in neuromorphic hardware: a one DoF study

Rasmus Karnøe Stagsted*, Antonio Vitale, Alpha Renner, Leon Bonde Larsen, Anders Lyhne Christensen, Yulia Sandarmirskaya

*Kontaktforfatter for dette arbejde

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstrakt

Spiking Neuronal Networks (SNNs) realized in neuromorphic hardware lead to low-power and low-latency neuronal computing architectures. Neuromorphic computing systems are most efficient when all of perception, decision making, and motor control are seamlessly integrated into a single neuronal architecture that can be realized on the neuromorphic hardware. Many neuronal network architectures address the perception tasks, while work on neuronal motor controllers is scarce. Here, we present an improved implementation of a neuromorphic PID controller. The controller was realized on Intel’s neuromorphic research chip Loihi and its performance tested on a drone, constrained to rotate on a single axis. The SNN controller is built using neuronal populations, in which a single spike carries information about sensed and control signals. Neuronal arrays perform computation on such sparse representations to calculate the proportional, derivative, and integral terms. The SNN PID controller is compared to a PID controller, implemented in software, and achieves a comparable performance, paving the way to a fully neuromorphic system in which perception, planning, and control are realized in an on-chip SNN.
OriginalsprogEngelsk
Titel2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ForlagIEEE
Publikationsdato2020
Sider10939-10944
ISBN (Elektronisk)978-1-7281-6212-6
DOI
StatusUdgivet - 2020
Begivenhed2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Virtual
Varighed: 25. okt. 202024. jan. 2021

Konference

Konference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
ByVirtual
Periode25/10/202024/01/2021
NavnI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

Bibliografisk note

Peer reviewed, 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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