Neural control for coordinated natural oscillation patterns

Title: Neural control for coordinated natural oscillation patterns
Creator: Chen, Zhiyong; Iwasaki, Tetsuya; Zhu, Lijun
Relation: Australian Research Council.DP130103039
Relation: Systems and Control Letters Vol. 62, Issue 8, p. 693-698
Publisher Link: http://dx.doi.org/10.1016/j.sysconle.2013.05.002
Publisher: Elsevier BV
Resource Type: journal article
Date: 2013
Description: We consider linear mechanical systems with asymmetric stiffness matrices. The class of systems captures essential body dynamics of animal/robotic locomotion. In particular, rhythmic body movements similar to those observed in animals can be found as a properly defined natural oscillation of the linear system. The objective is to design a nonlinear feedback controller that achieves the natural oscillation as a stable limit cycle for the closed-loop system. The controller structure we employ is inspired by neuronal circuits for animal locomotion. We translate the design requirement into a multivariable harmonic balance condition, and provide characterizations of neural controllers satisfying the condition.
Subject: oscillations; neuronal control; limit cycle; harmonic balance
Identifier: http://hdl.handle.net/1959.13/1063425
Identifier: uon:17275
Identifier: ISSN:0167-6911
Language: eng
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