Neural networks for control systems: a survey
Automatica (Journal of IFAC)
On contraction analysis for non-linear systems
Automatica (Journal of IFAC)
Dynamics of Feedback Systems
Oscillation conditions of nonlinear systems with static feedback
Automation and Remote Control
Stable concurrent synchronization in dynamic system networks
Neural Networks
Brief Paper: Feedback Control of Limit Cycle Amplitudes from A Frequency Domain Approach
Automatica (Journal of IFAC)
Resonance entrainment of tensegrity structures via CPG control
Automatica (Journal of IFAC)
Numerical and analytical methods for synthesis of central pattern generators
ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part III
Biochemical oscillations in delayed negative cyclic feedback: Existence and profiles
Automatica (Journal of IFAC)
| Hi-index | 22.15 |
The central pattern generator (CPG) is a nonlinear oscillator formed by a group of neurons, providing a fundamental control mechanism underlying rhythmic movements in animal locomotion. We consider a class of CPGs modeled by a set of interconnected identical neurons. Based on the idea of multivariable harmonic balance, we show how the oscillation profile is related to the connectivity matrix that specifies the architecture and strengths of the interconnections. Specifically, the frequency, amplitudes, and phases are essentially encoded in terms of a pair of eigenvalue and eigenvector. This basic principle is used to estimate the oscillation profile of a given CPG model. Moreover, a systematic method is proposed for designing a CPG-based nonlinear oscillator that achieves a prescribed oscillation profile.