A simple neuron servo

A simple servo controller built from components having neuronlike features is described. This VLSI servo controller uses pulses for control and is orders of magnitude smaller than a conventional system. The basic circuit elements are described. A key element is a component and neuronlike capability that takes voltages as inputs and generates a pulse train as the output. It is shown how the circuits are combined to a proportional and derivative controller. The advantages of using a pulsed output representation to improve slow-speed operation of a friction-limited system is demonstrated. The utility of exploiting parallelism, aggregation, and redundancy to improve system-level performance given imprecise low-level components is discussed. Experimental results illustrate the properties of the system compared with conventional controllers.<
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