Simulink models and MATLAB functions associated with the manuscript 'Anticipation from Sensation: Using Anticipating Synchronisation to Stabilise a System with Inherent Sensory Delay'
Contains two Simulink models that implement a simulation of a robot arm, along with control laws basedon anticipating synchronisation (AS), which were used to generate the results shown in the manuscript 'Anticipationfrom Sensation: Using Anticipating Synchronisation to Stabilise a System with Inherent Sensory Delay'.
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Both models share a series of constants, which are labelled within the Simulink view, and allow the alteration of the robot'sdynamics (link lengths and link masses), as well as the parameters of the control law (gains, coordinate transformation,strength of AS coupling).
The MATLAB functions AnticiStep and AnticiStepDisturbance plot the anticipation/lag of the arm's end effector motion withrespect to the target, as well as the tracking error at that time difference. The result is plotted as a function ofdelay (feedback delay only or feedback and target delay) and coupling strength.
Discrete-time serial-in, parallel-out shift register
- Library:
- Simscape / Electrical / Control / General Control
Description
The Serial-In Parallel-Out Shift Register block implements a serial-in parallel-out shift register in discrete time. You can use a shift register to convert between serial and parallel interfaces or to implement a circuit delay or hardware stack.
This block outputs a vector of last N samples of the input signal. If the input signal is a vector, the block outputs the last N samples of each input signal.
Ports
Input
Output
Parallel output signal.
Data Types:
single
| double
Parameters
Number of samples
— Number of input samples
4
(default) | positive integer
Initial condition
— Initial value of the input sample
0
(default) | real number
Initial value of the N-1 samples preceeding simulation start time. The value must be a scalar or a vector of the same size as the input signal.
Sample time (-1 for inherited)
— Block sample time
-1
(default) | 0 | positive scalar
Time between consecutive block executions. During execution, the block produces outputs and, if appropriate, updates its internal state. For more information, see What Is Sample Time? (Simulink) and Specify Sample Time (Simulink).
For inherited discrete-time, specify
-1
. For discrete-time, specify a positive integer. For continuous-time, specify 0
.