Training Reflexes Using Adaptive Feedforward Control
Erick Mejia Uzeda,
Mireille E. Broucke
Abstract:We consider the problem of mixed feedforward and feedback based disturbance rejection, where the feedforward measurement only provides a partial reconstruction of the disturbance. In doing so, we pose a new biologically relevant disturbance rejection problem which puts the role of feedforward measurements at the forefront. Based on the architecture of the human brain, we propose a design that utilizes an adaptive internal model operating on a fast timescale that, in turn, trains the correct feedforward gains o… Show more
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