Hybrid-control of synapse circuits for programmable cellular neural networks

This paper describes a hybrid weight-control strategy for VLSI realizations of programmable Cellular Neural Networks (CNNs), based on auto-tuning of analog control signals to digitally specified values. The approach merges the advantages of digital and analog programmability, achieving low areas and reduced number of control lines, simplifying the control and storage of weight values, and eliminating their dependency on global process-parameter variations

Unbounded Viscosity Solutions of Hybrid Control Systems

We study a hybrid control system in which both discrete and continuous controls are involved. The discrete controls act on the system at a given set interface. The state of the system is changed discontinuously when the trajectory hits predefined sets, namely, an autonomous jump set $A$ or a controlled jump set $C$ where controller can choose to jump or not. At each jump, trajectory can move to a different Euclidean space. We allow the cost functionals to be unbounded with certain growth and hence the corresponding value function can be unbounded. We characterize the value function as the unique viscosity solution of the associated quasivariational inequality in a suitable function class. We also consider the evolutionary, finite horizon hybrid control problem with similar model and prove that the value function is the unique viscosity solution in the continuous function class while allowing cost functionals as well as the dynamics to be unbounded

Central controller for hybrid control over network

In this paper, a central controller for position/force hybrid control over network is proposed. In the proposed method, the central controller receives position and force information from each plant. Then, the central controller generates acceleration references for each plant by using a hybrid controller and a dead time compensator. As an application, bilateral control with communication delay is implemented. And some simulations and experiments verify the validity of the proposed method

Global controllability tests for geometric hybrid control systems

Hybrid systems are characterized by having an interaction between continuous dynamics and discrete events. The contribution of this paper is to provide hybrid systems with a novel geometric formulation so that controls can be added. Using this framework we describe some new global controllability tests for hybrid control systems exploiting the geometry and the topology of the set of jump points, where the instantaneous change of dynamics take place. Controllability is understood as the existence of a feasible trajectory for the system joining any two given points. As a result we describe examples where none of the continuous control systems are controllable, but the associated hybrid system is controllable because of the characteristics of the jump set.Comment: 27 pages, 5 figure

Enhanced teleoperation performance using hybrid control and virtual fixture

To develop secure, natural and effective teleoperation, the perception of the slave plays a key role for the interaction of a human operator with the environment. By sensing slave information, the human operator can choose the correct operation in a process during the human–robot interaction.This paper develops an integrated scheme based on a hybrid control and virtual fixture approach for the telerobot. The human operator can sense the slave interaction condition and adjust the master device via the surface electromyographic signal. This hybrid control method integrates the proportional-derivative control and the variable stiffness control, and involves the muscle activation at the same time. It is proposed to quantitatively analyse the human operator’s control demand to enhance the control performance of the teleoperation system. In addition, due to unskilful operation and muscle physiological tremor of the human operator, a virtual fixture method is developed to ensure accuracy of operation and to reduce the operation pressure on the human operator. Experimental results demonstrated the effectiveness of the proposed method for the teleoperated robot