yo-yo运动的振荡神经网络控制

yo-yo Motion Control by Oscillatory Neural Networks

在分析简单的振荡网络基本构成基础上,提出了一种用振荡神经网络对yo-yo运动实现闭环控制的具体构架.给出了系统中所采用的神经网振荡器——抑制性锁相环、开关信号发生器和机器臂参考信号发生器等环节的数学模型.建立了实现yo-yo运动闭环控制的实时控制系统,并通过实验对该控制方法进行验证.结果表明,振荡神经网络实现yo-yo运动闭环控制的方法是可行的.

Based on various coupling forms of oscillatory neural networks, a simple iPLL （inhibitory phaselocked loop） oscillator was proposed to control the motion of a yo-yo. The proposed control has been successfully implemented. The experimental results show that closed-loop control of yo-yo motion with iPLL is possible. This provides a model-free alternative to the model-based control of such tasks.