Drive-Based Motivation for Coordination of Limit Cycle Behaviors
Drive-Based Motivation for Coordination of Limit Cycle Behaviors
复制标题
协调极限循环行为的基于驱动的动机
DOI：
10.1109/cdc40024.2019.9028915
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Paul B. Reverdy
中科院分区：
文献类型：
--
作者：
Craig Thompson;Paul B. Reverdy
构建能够执行高级行为的自治系统通常需要将这些行为简化为一系列低级任务。这需要开发一种在可能的任务之间切换的方法，例如使用混合自动机。最近的工作开发了一种替代方法，使用具有内部驱动状态的连续动力系统来选择所需的任务。在一个特定的结果中，作者考虑了一个场景，其中个体行为被编码在具有唯一的全局稳定均衡的控制向量场中。当一个人试图创建一个系统，该系统在具有循环行为的全局吸引集编码的任务之间切换，而不是作为点吸引子时，就会出现进一步的复杂性。这项工作概述了使用最近开发的基于驱动的动态框架的问题。首先，我们将任务的表述推广为一部分吸引集和一部分在该吸引集上的循环行为。然后，作为概念证明，我们证明了一个由轨道组成的吸引集的存在性，这些轨道在两个正则极限环之间反复流动（例如，Hopf振子）。
Constructing autonomous systems capable of high-level behaviors often involves reducing these behaviors to a collection of low-level tasks. This requires developing a method for switching among possible tasks, for example using a hybrid automaton. Recent work has developed an alternative approach using continuous dynamical systems that have an internal drive state to select the desired task. In one particular result, authors considered a scenario where individual behaviors were encoded in control vector fields with unique, globally stable equilibria. A further level of complexity arises when one seeks to create a system that switches between tasks encoded as globally attracting sets with recurrent behaviors, rather than as point attractors. This work outlines the problem using the recently-developed drive-based dynamical framework. First we generalize the formulation of tasks as one part attracting set and one part recurrent behavior on said attracting set. Then as a proof-of-concept we demonstrate the existence of an attracting set consisting of orbits that repeatedly flow between two canonical limit cycles (e.g., Hopf oscillators).
影响因子：
4.2
作者：
Gray, Rebecca;Franci, Alessio;Leonard, Naomi Ehrich
通讯作者：
Leonard, Naomi Ehrich