Node-wise monotone barrier coupling law for formation control
Node-wise monotone barrier coupling law for formation control
We study a node-wise monotone barrier coupling law, motivated by the synaptic coupling of neural central pattern generators. It is illustrated that this coupling imitates the desirable properties of neural central pattern generators. In particular, the coupling law 1) allows us to assign multiple central patterns on the circle and 2) allows for rapid switching between different patterns via simple `kicks'. In the end, we achieve full control by partitioning the state space by utilizing a barrier effect and assigning a unique steady-state behavior to each element of the resulting partition. We analyze the global behavior and study the viability of the design.
eess.SY, cs.SY, 93A16, 93B51, 34D06, 34D45, 37E10
Lee, Jin Gyu
72159d3a-7694-466f-a26f-1e85564c5ebd
Mostajeran, Cyrus
7b47a1d5-00df-4575-8828-1e473d58f82d
Goffrier, Graham Van
18877be8-d9be-4c90-a625-8f1c11b9cb84
Lee, Jin Gyu
72159d3a-7694-466f-a26f-1e85564c5ebd
Mostajeran, Cyrus
7b47a1d5-00df-4575-8828-1e473d58f82d
Goffrier, Graham Van
18877be8-d9be-4c90-a625-8f1c11b9cb84
[Unknown type: UNSPECIFIED]
Abstract
We study a node-wise monotone barrier coupling law, motivated by the synaptic coupling of neural central pattern generators. It is illustrated that this coupling imitates the desirable properties of neural central pattern generators. In particular, the coupling law 1) allows us to assign multiple central patterns on the circle and 2) allows for rapid switching between different patterns via simple `kicks'. In the end, we achieve full control by partitioning the state space by utilizing a barrier effect and assigning a unique steady-state behavior to each element of the resulting partition. We analyze the global behavior and study the viability of the design.
Text
2202.02759v3
- Author's Original
Available under License Other.
More information
Submitted date: 6 February 2022
Additional Information:
8 figures
Keywords:
eess.SY, cs.SY, 93A16, 93B51, 34D06, 34D45, 37E10
Identifiers
Local EPrints ID: 482257
URI: http://eprints.soton.ac.uk/id/eprint/482257
PURE UUID: b6efe074-5ce3-4f0d-a04a-a347102bc2a5
Catalogue record
Date deposited: 22 Sep 2023 16:35
Last modified: 18 Mar 2024 04:16
Export record
Altmetrics
Contributors
Author:
Jin Gyu Lee
Author:
Cyrus Mostajeran
Author:
Graham Van Goffrier
Download statistics
Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.
View more statistics