Digital-analog hybrid control of an inverted pendulum robot based on memristor

Abstract

Abstract Single inertial measurement unit sensor signals are inaccurate, and traditional digital processing systems with separate storage and computation architectures cannot directly handle analog sensor signals, leading to significant delays and high power consumption. In that case, the control capability for self-balancing robots has been limited. In this work, a three-terminal MoS2-based memristor device was fabricated and successfully integrated into a memristor-based hybrid control inverted pendulum robot system. This system achieved continuous multi-sensor analog data fusion computations and analog PD control computations by combining the least squares method and a gradient descent algorithm based on a reward mechanism in digital circuits to control the memristors dynamically. Additionally, simulation testing and real, inverted pendulum robot control confirmed the efficacy of its data fusion and the accuracy of its PD control. The comparative experiments demonstrated that the hybrid control system based on memristors was approximately 86.41 mJ lower than the digital system. This system holds significant importance for the processing of large-scale sensor data and robot control.