论文标题
节点单调屏障耦合定律用于编队控制
Node-wise monotone barrier coupling law for formation control
论文作者
论文摘要
我们研究了由神经中央模式发生器的突触耦合所激发的节点单调屏障耦合定律。可以说的是，这种耦合模仿了神经中央模式发生器的理想特性。特别是，耦合定律1）允许我们在圆上分配多个中心模式，2）允许通过简单的“踢”在不同模式之间快速切换。最后，我们通过利用屏障效应并为所得分区的每个元素分配了唯一的稳态行为，通过对状态空间进行分区来实现完全控制。我们分析了全球行为并研究设计的生存能力。
We study a node-wise monotone barrier coupling law, motivated by the synaptic coupling of neural central pattern generators. It is illustrated that this coupling imitates the desirable properties of neural central pattern generators. In particular, the coupling law 1) allows us to assign multiple central patterns on the circle and 2) allows for rapid switching between different patterns via simple `kicks'. In the end, we achieve full control by partitioning the state space by utilizing a barrier effect and assigning a unique steady-state behavior to each element of the resulting partition. We analyze the global behavior and study the viability of the design.
