Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
750323 | Systems & Control Letters | 2013 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Zhiyong Chen, Tetsuya Iwasaki, Lijun Zhu,