scholarly journals Time-to-target simplifies optimal control of visuomotor feedback responses

2019 ◽  
Author(s):  
Justinas Česonis ◽  
David W. Franklin
Keyword(s):  
Experimental Data ◽  
Optimal Control ◽  
Feedback Control ◽  
Control Parameter ◽  
Optimal Feedback Control ◽  
Specific Task ◽  
Control Scheme ◽  
Response Onset ◽  
Online Feedback ◽  
Feedback Responses

AbstractVisuomotor feedback responses vary in intensity throughout a reach, commonly explained by optimal control. Here we show that the optimal control for a range of movements with the same goal can be simplified to a time-to-target dependent control scheme. We measure participants’ visuomotor responses in five reaching conditions, each with different hand or cursor kinematics. Participants only produced different feedback responses when these kinematic changes resulted in different times-to-target. We complement our experimental data with a range of finite and non-finite horizon optimal feedback control models, finding that only the model with time-to-target as one of the input parameters can successfully replicate the experimental data. Overall, this suggests that time-to-target is a critical control parameter in online feedback control. Moreover, we propose that for a specific task and known dynamics, humans can instantly produce a control signal without any computation allowing rapid response onset and close to optimal control.

Passive optimal feedback control of an articulated flexible arm

2020 ◽  
pp. 107754632095676
Author(s):  
Raja Tebbikh ◽  
Hicham Tebbikh ◽  
Sihem Kechida
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Closed Loop ◽  
Open Loop ◽  
Optimal Feedback Control ◽  
Convolution Operators ◽  
High Frequencies ◽  
Zero Initial Condition ◽  
Flexible Arm ◽  
Euler Bernoulli Beam

This article deals with stabilization and optimal control of an articulated flexible arm by a passive approach. This approach is based on the boundary control of the Euler–Bernoulli beam by means of wave-absorbing feedback. Due to the specific propagative properties of the beam, such controls involve long-memory, non-rational convolution operators. Diffusive realizations of these operators are introduced and used for elaborating an original and efficient wave-absorbing feedback control. The globally passive nature of the closed-loop system gives it the unconditional robustness property, even with the parameters uncertainties of the system. This is not the case in active control, where the system is unstable, because the energy of high frequencies is practically uncontrollable. Our contribution comes in the achievement of optimal control by the diffusion equation. The proposed approach is original in considering a non-zero initial condition of the diffusion as an optimization variable. The optimal arm evolution, in a closed loop, is fixed in an open loop by optimizing a criterion whose variable is the initial diffusion condition. The obtained simulation results clearly illustrate the effectiveness and robustness of the optimal diffusive control.

Mixed Strategy Global Sub-Optimal Feedback Control for Chaotic Systems

1997 ◽  
Vol 07 (03) ◽  
pp. 607-623 ◽  
Author(s):  
H. W. J. Lee ◽  
M. Paskota ◽  
K. L. Teo
Keyword(s):  
Feedback Control ◽  
State Space ◽  
Chaotic Systems ◽  
Mixed Strategy ◽  
The State ◽  
Optimal Feedback Control ◽  
Target Region ◽  
Optimal Feedback ◽  
Control Scheme

How to perform targeting of chaotic systems in a global sense is an important question. In this paper, we address this problem by introducing a mixed strategy global sub-optimal feedback control scheme. The idea is to partition the state space into 2 parts, namely, the target region and its complement. The proposed controller will take different forms depending on which partition of the state space the system is in. Simulations are also provided to illustrate the proposed scheme.

scholarly journals Task-dependent vestibular feedback responses in reaching

2017 ◽  
Vol 118 (1) ◽  
pp. 84-92 ◽  
Author(s):  
Johannes Keyser ◽  
W. Pieter Medendorp ◽  
Luc P. J. Selen
Keyword(s):  
Feedback Control ◽  
Control Theory ◽  
Vestibular Stimulation ◽  
Galvanic Vestibular Stimulation ◽  
The Body ◽  
Optimal Feedback Control ◽  
Dependent Manner ◽  
Optimal Feedback ◽  
Feedback Control Theory ◽  
Feedback Responses

When reaching for an earth-fixed object during self-rotation, the motor system should appropriately integrate vestibular signals and sensory predictions to compensate for the intervening motion and its induced inertial forces. While it is well established that this integration occurs rapidly, it is unknown whether vestibular feedback is specifically processed dependent on the behavioral goal. Here, we studied whether vestibular signals evoke fixed responses with the aim to preserve the hand trajectory in space or are processed more flexibly, correcting trajectories only in task-relevant spatial dimensions. We used galvanic vestibular stimulation to perturb reaching movements toward a narrow or a wide target. Results show that the same vestibular stimulation led to smaller trajectory corrections to the wide than the narrow target. We interpret this reduced compensation as a task-dependent modulation of vestibular feedback responses, tuned to minimally intervene with the task-irrelevant dimension of the reach. These task-dependent vestibular feedback corrections are in accordance with a central prediction of optimal feedback control theory and mirror the sophistication seen in feedback responses to mechanical and visual perturbations of the upper limb. NEW & NOTEWORTHY Correcting limb movements for external perturbations is a hallmark of flexible sensorimotor behavior. While visual and mechanical perturbations are corrected in a task-dependent manner, it is unclear whether a vestibular perturbation, naturally arising when the body moves, is selectively processed in reach control. We show, using galvanic vestibular stimulation, that reach corrections to vestibular perturbations are task dependent, consistent with a prediction of optimal feedback control theory.

Optimal Control of a Distributed Parameter, Time-Lagged River Aeration System

1975 ◽  
Vol 97 (2) ◽  
pp. 164-171 ◽  
Author(s):  
M. K. O¨zgo¨ren ◽  
R. W. Longman ◽  
C. A. Cooper
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Open Loop ◽  
Optimal Feedback Control ◽  
Distributed Parameter ◽  
Control Law ◽  
Optimal Controls ◽  
Distributed Parameter System ◽  
Parameter System ◽  
Characteristic Lines

The control of artificial in-stream aeration of polluted rivers with multiple waste effluent sources is treated. The optimal feedback control law for this distributed parameter system is determined by solving the partial differential equations along characteristic lines. In this process the double integral cost functional of the distributed parameter system is reduced to a single integral cost. Because certain measurements are time consuming, the feedback control law is obtained in the presence of observation delay in some but not all of the system variables. The open loop optimal control is then found, showing explicity the effect of changes in any of the effluent sources on the aeration strategy. It is shown that the optimal strategy for a distribution of sources can be written as an affine transformation upon the optimal controls for sources of unit strength.

scholarly journals Quantum demolition filtering and optimal control of unstable systems

2012 ◽  
Vol 370 (1979) ◽  
pp. 5396-5407 ◽  
Author(s):  
V. P. Belavkin
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Open Loop ◽  
Information Dynamics ◽  
Unstable Systems ◽  
Dissipative Term ◽  
Control Scheme ◽  
Hamilton Jacobi Bellman ◽  
Classical Control ◽  
And Control

A brief account of the quantum information dynamics and dynamical programming methods for optimal control of quantum unstable systems is given to both open loop and feedback control schemes corresponding respectively to deterministic and stochastic semi-Markov dynamics of stable or unstable systems. For the quantum feedback control scheme, we exploit the separation theorem of filtering and control aspects as in the usual case of quantum stable systems with non-demolition observation. This allows us to start with the Belavkin quantum filtering equation generalized to demolition observations and derive the generalized Hamilton–Jacobi–Bellman equation using standard arguments of classical control theory. This is equivalent to a Hamilton–Jacobi equation with an extra linear dissipative term if the control is restricted to Hamiltonian terms in the filtering equation. An unstable controlled qubit is considered as an example throughout the development of the formalism. Finally, we discuss optimum observation strategies to obtain a pure quantum qubit state from a mixed one.

Use of State Observers in the Optimal Feedback Control of Automated Transit Vehicles

1973 ◽  
Vol 95 (2) ◽  
pp. 220-227 ◽  
Author(s):  
W. L. Garrard ◽  
A. L. Kornhauser
Keyword(s):  
Optimal Control ◽  
Feedback Control ◽  
Dynamic Response ◽  
High Capacity ◽  
Optimal Feedback Control ◽  
Feedback Systems ◽  
Longitudinal Control ◽  
Transit Systems ◽  
State Observers ◽  
Theory Of Optimal Control

The theory of optimal control and the theory of observers is applied to the design of feedback systems for longitudinal control of vehicles in automated, high-capacity transit systems. The resulting controllers require only measurement of position and velocity errors and excellent dynamic response is achieved for mainline operation, for merging and demerging from stations, for maneuvering at intersections, and for emergency stopping.

Optimal feedback control scheme helping managers to adjust aggregate industrial resources

1999 ◽  
Vol 7 (4) ◽  
pp. 555-563 ◽  
Author(s):  
O.S. Silva Fo ◽  
S.D. Ventura
Keyword(s):  
Feedback Control ◽  
Optimal Feedback Control ◽  
Optimal Feedback ◽  
Control Scheme

Optimal Feedback Control Scheme Helping Manager to Adjust Aggregate Industrial Resources

1997 ◽  
Vol 30 (19) ◽  
pp. 333-338
Author(s):  
O.S. Silva Fo ◽  
S.D. Ventura
Keyword(s):  
Feedback Control ◽  
Optimal Feedback Control ◽  
Optimal Feedback ◽  
Control Scheme

scholarly journals INFLUENCE OF THE MANURE SPREADING MACHINES' WORKING PARAMETERS ON THE QUALITATIVE PERFORMANCES OF THE FERTILIZATION PROCESS

2019 ◽  
pp. 115-120
Author(s):  
Vasilica Stefan ◽  
Petru Cardei ◽  
Lucretia Popa ◽  
Ladislau David ◽  
Radu Ciuperca
Keyword(s):  
Experimental Data ◽  
Optimal Control ◽  
Control Parameter ◽  
Organic Fertilizer ◽  
Organic Fertilizers ◽  
Agricultural Machinery ◽  
Operating Modes ◽  
Inclination Angles ◽  
Working Parameters ◽  
And Control

This paper presents results regarding the variation of the qualitative parameters of the organic fertilizer machines according to the parameters of the material and control, of the working regime. These results are obtained from mathematical models that interpolate experimental data. The functions thus obtained allow the investigation of the existence of optimal working regimes and, if confirmed, the identification of these operating modes (of the optimal control parameter set: rotational speed, inclination angles, flow rate, etc.). The analysis can be extended to other types of agricultural machinery for the administration of solid organic fertilizers, chemicals or amendments.

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