Summary
the 2014 International Symposium on Nonlinear Theory and its Applications
2014
Session Number:B1L-E
Session:
Number:B1L-E5
Nonlinear Control by Coupled Oscillator: from Nonholonomic Systems to Quasi-Passive DynamicWalker
Yasuhiro Sugimoto, Takeshi Kibayashi, Masato Ishikawa, Koichi Osuka,
pp.288-291
Publication Date:2014/9/14
Online ISSN:2188-5079
Summary:
In this paper, we propose a novel control method for nonholonomic constrained systems using coupled oscillators composed of the Kuramoto model, which is one of mathematical models used to describe a synchronization phenomenon. The reason why we focus on the Kuramoto model is that it has the ability to generate stable rhythmic signals and it is sufficiently simple for mathematical analysis. We derive the stability criteria of Brockett Integrator with the proposed method and examine the effectiveness of the proposed method by several numerical simulations and experiments. Finally we apply the proposed method to control the walking distance of Quadrupedal Quasi-passive dynamic walker.