Fractional Neuromorphic Controller for a Servomotor: Analog Implementation*

Abstract

Taking the benefits of each of them individually, this paper investigates the combination of bioinspired pulse-based control, also known as neuromorphic, together with fractional order control, which will be referred to as fractional neuromorphic control (FNC). The proposed strategy essentially consists of a fractional order controller whose output is connected to a neuron to generate pulse-like control signals, i.e., the control signal is encoded into the distance between pulses. An analog implementation of FNC is presented, providing a set of recommendations to address its design. To illustrate the control possibilities that offer this novel strategy, the velocity control of a servomotor is given as an example of application.