Biologically inspired Sensors with Adaptive Control

摘要

We consider a mechanical system in form of a sensor, which is inspired by biological ideas concerning the behaviour of a tactile hair or sensillum. This biological paradigm demonstrates a fundamental principle: adaption. We model this system in form of a spring-mass-damper-system which is excited by an (unknown) force at the frame. Because of the adjustment of the sensibility of the sensilla (the sensor) we have the task to compensate the unknown ground excitement adaptively. We have to design an adaptive controller, which learns from the behaviour of the system, so automatically adjusts its parameters in such a way that the seismic point mass tends to the rest position in spite of the continuing excitement (impulse).