自然振荡精确夹带控制器的合成

Lijun Zhu, Zhiyong Chen, T. Iwasaki
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引用次数: 7

摘要

对于由多个部分组成的生物启发机械系统,其自然振荡被定义为符合身体-环境相互作用固有动力学的周期性身体运动模式,从而导致系统的有效运动。在文献中,已经设计了一个基于中心模式生成器的控制器来近似地实现对自然振荡的夹带。本文进一步完善了先前的结果,提出了一个实现精确夹带的控制器,以及一个严格的稳定性分析,从而完全解决了自然振荡夹带问题。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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.
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