Title :
On stability and error bounds of describing functions for oscillatory control of movements
Author :
Arsenio, Artur M.
Author_Institution :
Artificial Intelligence Lab., MIT, Cambridge, MA, USA
Abstract :
Biological neural circuits are often modeled by neural oscillators consisting of two mutually inhibiting neurons. These oscillators explore the natural dynamics of the body coupled to a dynamic system, to excecute complex tasks, which resembles biological structures in animals. The dynamics of multiple nonlinear oscillators for controlling (non)linear multivariable robotic systems is complex. Although algebraic equations are now available for tuning the oscillators to accomplish a complex task, based on quasi-linear approximations by describing functions, it is essential to infer stability characteristics of the solutions, as well as establish error bounds for the solutions due to the approximation. The paper suggests solutions for these problems, by presenting a method for estimating stability and bounds on the estimated parameter errors
Keywords :
MIMO systems; describing functions; limit cycles; linear systems; motion control; multivariable control systems; nonlinear control systems; oscillators; robots; stability; transfer function matrices; error bounds; multiple nonlinear oscillators; multivariable robotic systems; neural oscillators; oscillatory control; quasi-linear approximations; Animal structures; Biological system modeling; Circuit stability; Control systems; Coupling circuits; Neurons; Nonlinear control systems; Nonlinear dynamical systems; Oscillators; Robot control;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.893240
