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.
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