Controllers as filters: Noise-driven swing-up control based on Maxwell's demon

Emmanouil Tzorakoleftherakis, Todd D. Murphey

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

In this paper we show in simulation that if the controller and the filter are combined into a single computational unit operating like a Maxwell's demon, controller-filtered noise can successfully control a system of interest. Using this method, we perform Monte Carlo tests for the swing-up control of the cart pendulum, acrobot and pendubot systems. Results show that filtered noise can indeed act as a swing-up controller, leading these systems to configurations where a locally stabilizing controller can complete the stabilization process. Potential applications of this work include the development of reliable, never-failing human-machine interfaces for rehabilitation, training and skill evaluation.

Original languageEnglish (US)
Title of host publication54rd IEEE Conference on Decision and Control,CDC 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4368-4374
Number of pages7
ISBN (Electronic)9781479978861
DOIs
StatePublished - Feb 8 2015
Event54th IEEE Conference on Decision and Control, CDC 2015 - Osaka, Japan
Duration: Dec 15 2015Dec 18 2015

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume54rd IEEE Conference on Decision and Control,CDC 2015
ISSN (Print)0743-1546

Other

Other54th IEEE Conference on Decision and Control, CDC 2015
CountryJapan
CityOsaka
Period12/15/1512/18/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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