Real-Time Implementation of a Spiking Neural Network-Based Control: An Application for the Ball and Plate System

We present a neuromorphic computing control architecture for the problem of stabilizing a benchmark sub-actuated system: the ball and plate platform. The proposed architecture makes use of Spiking Neural Networks (SNNs) as an alternative to traditional von Neumann computing. The Neural Engineering Framework (NEF) is adopted to encode the SNN-based controller to accomplish position and trajectory tasks. Simulation results and a real-time implementation of the proposed SNN controller are presented over a homemade ball and plate prototype. The effectiveness of the proposed neuromorphic controller is demonstrated, even in situations where the system is affected by external impulsive disturbances.