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Rhythmic motion employed in animal locomotion is ultimately controlled by neuronal circuits known as central pattern generators (CPGs). It appears that these controllers produce efficient oscillatory command signals by entraining to a resonant gait via sensory feedback. This property is of great interest in the control of autonomous vehicles. In this paper, we experimentally validate synthesized CPG...
Oscillations are often observed in nature at multiple levels, and form a basis for sustained operation of various functionalities. The objective of this plenary lecture is to introduce biological principles for coordinated oscillations to the control engineering community, and to provide a tutorial overview of recent developments on the analysis and design of dynamical mechanisms for oscillations,...
The mechanism of entrainment to natural oscillations in a class of (bio)mechanical systems described by linear models is investigated. A nonlinear control strategy (based on the speed gradient control algorithm) is analyzed providing the system oscillation in resonance mode with a natural frequency. It ensures an energy-optimal entrainment performance robustly against perturbations in system parameters...
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