Anticipation from sensation: using anticipating synchronization to stabilize a system with inherent sensory delay

• Main Authors: Henry Eberle, Slawomir J. Nasuto, Yoshikatsu Hayashi
• Format: Article
• Language: English
• Published: The Royal Society 2018-01-01
• Series: Royal Society Open Science
• Subjects: anticipating synchronization; synchronization; time delay; robotic manipulator; state predictor
• Online Access: https://royalsocietypublishing.org/doi/pdf/10.1098/rsos.171314

We present a novel way of using a dynamical model for predictive tracking control that can adapt to a wide range of delays without parameter update. This is achieved by incorporating the paradigm of anticipating synchronization (AS), where a ‘slave’ system predicts a ‘master’ via delayed self-feedback. By treating the delayed output of the plant as one half of a ‘sensory’ AS coupling, the plant and an internal dynamical model can be synchronized such that the plant consistently leads the target’s motion. We use two simulated robotic systems with differing arrangements of the plant and internal model (‘parallel’ and ‘serial’) to demonstrate that this form of control adapts to a wide range of delays without requiring the parameters of the controller to be changed.