Decentralized control of multi-degree-of-freedom system by self-excited vibration actuators with local control

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A control method to always excite a multi-degree-of-freedom system efficiently at resonance frequency was developed. Self-excited vibration is generated at all the resonance frequencies by using a controller that has a phase lag of 90° and a constant gain in a wide frequency range. The validity of driving at resonance frequency by decentralized control was verified in the experiments of 4 and 8 degree-of-freedom vibration system, multipoint excitation of a large-sized structure, formation of gait of quadruped animals, and bipedal locomotion in the flat ground.