Please use this identifier to cite or link to this item: http://hdl.handle.net/1959.13/933701

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Title
Synthesis of controllers for exact entrainment to natural oscillation
Author/Creator
Zhu, Lijun;  Chen, Zhiyong;  Iwasaki, Tetsuya
Institution
The University of Newcastle. Faculty of Engineering & Built Environment, School of Electrical Engineering and Computer Science
Description
For a biologically inspired mechanical system consisting of multiple segments, its natural oscillation is defined as a periodic body movement pattern conforming to the dynamics inherent to the body-environment interaction, leading to an effective locomotion of the system. In the literature, a central pattern generator based controller has been designed to approximately achieve entrainment to a natural oscillation. This paper further refines the previous result by proposing a controller that achieves exact entrainment, as well as a rigorous stability analysis which leads to a complete solution to the problem of entrainment to natural oscillation.
Relation
8th World Congress on Intelligent Control and Automation (WCICA 2010). Proceedings of the 8th World Congress on Intelligent Control and Automation (Jinan, China 7-9 July, 2010) p. 709-713
Publisher Link
http://dx.doi.org/10.1109/WCICA.2010.5554038
Date
2010
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Keyword(s)
oscillator;  limit cycle;  central pattern generator (CPG);  locomotion
Resource Type
conference paper
Identifier
http://hdl.handle.net/1959.13/933701
Identifier
ISBN:9781424467129
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"Synthesis of controllers for exact entrainment to natural oscillation"
 
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