Name
Abstract | ||
|---|---|---|
This paper presents a bio-inspired central pattern generator (CPG) architecture for feedback control of rhythmic behavior. The CPG circuit is realized as a coupled oscillator feedback particle filter. The collective dynamics of the filter are used to approximate a posterior distribution that is used to construct the optimal control input. The architecture is illustrated with the aid of a model problem involving pumping up of a swing, modeled as a parametrically forced pendulum. For this problem, the coupled oscillator particle filter is designed and its control performance demonstrated in a simulation environment. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ACC.2014.6859267 | American Control Conference |
Keywords | Field | DocType |
control system analysis,feedback,optimal control,particle filtering (numerical methods),pendulums,CPG architecture,CPG circuit,bioinspired central pattern generator,collective dynamics,control performance,coupled oscillator feedback particle filter,feedback control,optimal control input,parametrically forced pendulum,pumping,rhythmic behavior,rhythms,simulation environment,swing,Biological systems,Filtering,Stochastic systems | Oscillation,Optimal control,Control theory,Computer science,Particle filter,Filter (signal processing),Control engineering,Posterior probability,Central pattern generator,Pendulum,Swing | Conference |
ISSN | Citations | PageRank |
0743-1619 | 3 | 0.58 |
References | Authors | |
9 | 2 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Adam K. Tilton | 1 | 3 | 0.58 |
| Prashant G. Mehta | 2 | 4 | 1.07 |