LATIDIA · Robótica

Control neuromórfico por impulsos para la estabilización de órbitas periódicas en robots subactuados: un enfoque voraz basado en Lyapunov.

arXiv:2610.37310v1 Anuncio Tipo: nuevo Resumen: Este trabajo investiga el uso de controladores de impulsos basados ​​en eventos, implementados como redes neuronales de impulsos, para el seguimiento de trayectorias en robots subactuados. Específicamente,

La noticia

arXiv:2610.37310v1 Announce Type: new Abstract: This work investigates the use of event-based spiking controllers, implemented as spiking neural networks, for trajectory tracking in underactuated robots. Specifically, we address the problem of stabilizing a prescribed periodic orbit. It is well known that, by applying the method of transverse linearization to the robot dynamics in a neighborhood of a periodic trajectory, the dynamics can be approximately described by a linear time-varying system with periodic coefficients (a periodic LTV system). The problem of orbital stabilization can therefore be reduced to stabilizing the trivial solution of this LTV system. We show that a previously proposed Lyapunov-based greedy design, originally developed for LTI systems, can