{"title":"自然振荡精确夹带控制器的合成","authors":"Lijun Zhu, Zhiyong Chen, T. Iwasaki","doi":"10.1109/WCICA.2010.5554038","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":315420,"journal":{"name":"2010 8th World Congress on Intelligent Control and Automation","volume":"12 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-08-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Synthesis of controllers for exact entrainment to natural oscillation\",\"authors\":\"Lijun Zhu, Zhiyong Chen, T. Iwasaki\",\"doi\":\"10.1109/WCICA.2010.5554038\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"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.\",\"PeriodicalId\":315420,\"journal\":{\"name\":\"2010 8th World Congress on Intelligent Control and Automation\",\"volume\":\"12 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2010-08-23\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2010 8th World Congress on Intelligent Control and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/WCICA.2010.5554038\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 8th World Congress on Intelligent Control and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WCICA.2010.5554038","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Synthesis of controllers for exact entrainment to natural oscillation
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.