Control with rhythms: A CPG architecture for pumping a swing

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.

Original languageEnglish (US)
Title of host publication2014 American Control Conference, ACC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages584-589
Number of pages6
ISBN (Print)9781479932726
DOIs
StatePublished - Jan 1 2014
Event2014 American Control Conference, ACC 2014 - Portland, OR, United States
Duration: Jun 4 2014Jun 6 2014

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619

Other

Other2014 American Control Conference, ACC 2014
CountryUnited States
CityPortland, OR
Period6/4/146/6/14

Keywords

  • Biological systems
  • Filtering
  • Stochastic systems

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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