Chen, Zhiyong (Univ. of Virginia), Iwasaki, Tetsuya (Univ. of Virginia)

State Pattern Generation of Rectifier Systems by Circulant Neuronal Oscillators

Scheduled for presentation during the Regular Session "Biological Systems" (MoP10), Monday, July 24, 2006, 15:20−15:45, Room 103

17th International Symposium on Mathematical Theory of Networks and Systems, July 24-28, 2006, Kyoto, Japan

This information is tentative and subject to change. Compiled on April 23, 2024

Abstract

While regulations around an equilibrium point or a reference trajectory have been the focus of recent feedback control theories, generation of autonomous oscillations in a specific pattern plays a crucial role in important control applications. For instance, oscillations of link angles (states) of a multilink robotic snake can be rectified to generate steady forward velocity of the body if the phases are properly coordinated. This paper characterizes an optimal state pattern for a class of nonlinear rectifier systems in the sense of removing the ``ripples'' of the rectified variable. We also propose a feedback control to achieve the optimal state pattern with an arbitrarily small error, using the circulant oscillator we have developed recently. The effectiveness of the proposed method is illustrated by an application to the gait control of an undulatory rectifier system.