- Title
- Robust entrainment to natural oscillations of asymmetric systems arising from animal locomotion
- Creator
- Chen, Zhiyong; Iwasaki, Tetsuya
- Relation
- 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference (CDC/CCC 2009). Proceedings of the 48th IEEE Conference on Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference (CDC/CCC 2009) (Shanghai, China 15-18 December, 2009) p. 2954-2959
- Publisher Link
- http://dx.doi.org/10.1109/CDC.2009.5400310
- Publisher
- Institute of Electrical and Electronics Engineers (IEEE)
- Resource Type
- conference paper
- Date
- 2009
- Description
- We consider a class of linear flexible mechanical systems arising from the dynamics of animal locomotion. A distinctive property of such systems is that the stiffness matrix is asymmetric. Extending the standard notion to this class, we define the natural oscillation as a free response under the damping compensation to achieve marginal stability. As a benchmark, a link chain system in a fluid environment is considered, and its natural oscillation is shown to exhibit travelling waves appropriate for undulatory swimming. Moreover, we propose nonlinear feedback controllers, inspired by neuronal dynamics, to achieve entrainment to the natural oscillation.
- Subject
- oscillations; autonomous vehicles; locomotion; neuronal control; robotics
- Identifier
- uon:8700
- Identifier
- http://hdl.handle.net/1959.13/918759
- Identifier
- ISBN:9781424438723
- Rights
- Copyright © 2009 IEEE. Reprinted from the Proceedings of the 48th IEEE Conference on Decision and Control 2009, held jointly with the 28th Chinese Control Conference 2009. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of University of Newcastle's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
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