Title :
Control design for coordinated oscillations with central pattern generator
Author :
Iwasaki, Takuya ; Min Wen
Author_Institution :
Mech. & Aerosp. Eng., Univ. of California, Los Angeles, Los Angeles, CA, USA
Abstract :
This paper proposes a method for designing a feedback controller to yield an oscillation of a prescribed profile as a stable limit cycle of the closed-loop system. The plant is assumed linear, but the controller is necessarily nonlinear to achieve orbital stability of the oscillation. The controller structure is inspired by central pattern generators - neuronal circuits for rhythmic body movements during animal locomotion. Design conditions are obtained for the neuronal interconnection matrix through the method of multivariable harmonic balance. A numerical example demonstrates utility of the design method.
Keywords :
closed loop systems; control system synthesis; feedback; limit cycles; linear systems; matrix algebra; mobile robots; multivariable control systems; nonlinear control systems; stability; animal locomotion; central pattern generator; closed loop system; control design; coordinated oscillations; design conditions; design method utility; feedback controller design method; linear plant; multivariable harmonic balance method; neuronal circuits; neuronal interconnection matrix; nonlinear controller; orbital oscillation stability; prescribed profile oscillation; rhythmic body movements; stable limit cycle; Closed loop systems; Control design; Eigenvalues and eigenfunctions; Limit-cycles; Neurons; Oscillators; Vectors; Central pattern generator; Locomotion; Oscillation; Robotic vehicle;
Conference_Titel :
American Control Conference (ACC), 2013
Conference_Location :
Washington, DC
Print_ISBN :
978-1-4799-0177-7
DOI :
10.1109/ACC.2013.6580286
