A parameterless biologically inspired control algorithm robust to nonlinearities, dead-times and low-pass filtering effects

Abstract

A biologically inspired control algorithm for robot control was introduced in a previous work. The algorithm is robust to noisy sensor information and hardware failures. In this paper a new version of the algorithm is presented. The new version is able to cope with highly non-linear systems and presents an improved robustness to low-pass filter effects and dead-times. Automatic tuning of the parameters is also introduced, providing a completely parameterless algorithm. © 2010 Springer-Verlag Berlin Heidelberg.