Title :
Neuronal network control for robust entrainment to natural oscillations - A case study
Author :
Chen, Zbiyong ; Zhang, Hai-Tao
Author_Institution :
Sch. of Electr. Eng. & Comput. Sci., Univ. of Newcastle, Callaghan, NSW, Australia
Abstract :
Biological control mechanism has motivated central pattern generator (CPG) circuits as the basic architecture of nonlinear control laws to achieve coordinated oscillations of engineered systems. In this paper, the coordinated oscillations of a multi-link pendulum on slope (MPOS) system are investigated. In an MPOS model, the gravity of the links and their interaction (friction) with the slope excites and damps the oscillating motion, respectively. With the sensory feedback from the links´ angular states, the entrainment to a class of natural oscillations is achieved by a CPG based controller. The entrainment is robust with respect to a certain environmental and body variations.
Keywords :
biology; neural nets; nonlinear control systems; oscillations; robust control; CPG based controller; MPOS model; angular states; biological control mechanism; body variation; central pattern generator circuit; coordinated oscillation; engineered system; gravity; multilink pendulum on slope system; natural oscillations; neuronal network control; nonlinear control laws; oscillating motion; robust entrainment; sensory feedback; slope excites; Adaptation models; Biological system modeling; Neuronal network; central pattern generator (CPG); harmonic balance; multi-link pendulum on slope (MPOS); oscillation;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359425
