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

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedingsResearchpeer-review

Abstract

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.
Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication date2020
Pages10939-10944
ISBN (Electronic)978-1-7281-6212-6
DOIs
Publication statusPublished - 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Virtual
Duration: 25. Oct 202024. Jan 2021

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
CityVirtual
Period25/10/202024/01/2021
SeriesI E E E International Conference on Intelligent Robots and Systems. Proceedings
ISSN2153-0858

Fingerprint

Dive into the research topics of 'Event-based PID controller fully realized in neuromorphic hardware: a one DoF study'. Together they form a unique fingerprint.

Cite this