Setpoint regulation for stochastically interacting robots
Setpoint regulation for stochastically interacting robots
复制标题
随机交互机器人的设定点调节
DOI：
10.1007/s10514-010-9203-2
复制
发表时间：
2009
影响因子：
3.5
通讯作者：
E. Klavins
中科院分区：
文献类型：
--
作者：
N. Napp;Samuel A. Burden;E. Klavins
我们提出了一种积分反馈控制器，它可以调节随机交互机器人系统中组件的平均副本数。这些机器人的数学模型是一个可调反应网络，这使得这种方法适用于一大类其他系统，包括在不同长度尺度上表现出随机自组装的系统。我们证明该控制器适用于一系列设定点，以及如何通过分析和实验来计算该范围。最后，我们在物理测试台上展示了这些想法。
We present an integral feedback controller that regulates the average copy number of an assembly in a system of stochastically interacting robots. The mathematical model for these robots is a tunable reaction network, which makes this approach applicable to a large class of other systems, including ones that exhibit stochastic self-assembly at various length scales. We prove that this controller works for a range of setpoints and how to compute this range both analytically and experimentally. Finally, we demonstrate these ideas on a physical testbed.