- 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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