Animal Vibrissae: Modeling and Adaptive Control of Bio-inspired Sensors
Animal Vibrissae: Modeling and Adaptive Control of Bio-inspired Sensors
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动物触须：仿生传感器的建模和自适应控制
DOI：
10.1007/978-3-642-38682-4_19
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
K. Zimmermann
中科院分区：
文献类型：
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作者：
C. Behn;T. Schmitz;H. Witte;K. Zimmermann
对振动的接收是一种特殊的触觉，对许多昆虫和脊椎动物来说很重要。后者通过神秘垫上的毛发状触须来实现这种接收，以获取有关其环境的触觉信息。系统模型必须允许稳定和跟踪控制，同时能够检测到叠加的孤立激励。考虑到待抑制外部信号的随机性和系统数据的不确定性，控制器必须具有自适应能力。我们提出了机械模型和改进的自适应控制策略，避免了识别，但使系统敏感。
The reception of vibrations is a special sense of touch, important for many insects and vertebrates. The latter realize this reception by means of hair-shaped vibrissae in the mystacial pad, to acquire tactile information about their environments. The system models have to allow for stabilizing and tracking control while nevertheless being able to detect superimposed solitary excitations. Controllers have to be adaptive in view of both the randomness of the external signals to be suppressed and the uncertainty of system data. We presents mechanical models and an improved adaptive control strategy that avoids identification but renders the system sensitive.