Circulant synthesis of central pattern generators with application to control of rectifier systems
Circulant synthesis of central pattern generators with application to control of rectifier systems
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DOI：
10.1109/tac.2007.914951
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发表时间：
2008-02-01
影响因子：
6.8
通讯作者：
Iwasaki, Tetsuya
中科院分区：
文献类型：
--
作者：
Chen, Zhiyong;Iwasaki, Tetsuya
当规则围绕一个平衡点或一个。参考轨迹的产生是近年来反馈控制理论研究的热点，具有特定模式的自主振荡的产生在机器人等重要控制应用中起着至关重要的作用。中枢模式发生器（CPG）是动物节律性运动的基本神经机制，为工程系统的受控振荡提供了新的范例。本文给出了一种利用循环矩阵的性质综合人工CPG电路的新方法。我们展示了神经元模型如何相互连接，以产生具有规定频率，振幅和相位的周期轨道。在反馈回路中使用合成CPG，我们提出了一类非线性整流器系统的控制设计方法，以实现最佳状态模式相对于一定的措施的效率，受到小纹波的整流变量。所提出的方法的有效性说明了应用的波动蛇形系统的步态控制。
While regulations around an equilibrium point or a. reference trajectory have been the focus of recent feedback control theories, generation of autonomous oscillations with a specific pattern plays a crucial role in important control applications such as robotics. The central pattern generator (CPG) is the fundamental neuronal mechanism underlying rhythmic movements of animals, and may provide a new paradigm for controlled oscillations of engineering systems. This paper gives a novel method for synthesizing artificial CPG circuits by utilizing the properties of circulant matrices. We show how neuron models can be interconnected to yield a periodic orbit with prescribed frequency, amplitudes, and phases. Using the synthetic CPG in a feedback loop, we propose a control design method for a class of nonlinear rectifier systems to achieve the optimal state pattern with respect to a certain measure of efficiency, subject to small ripples in the rectified variable. The effectiveness of the Proposed method is illustrated by an application to the gait control of an undulatory snakelike system.