Power-continuous Synchronisation of Oscillators: a novel, energy-free way to synchronise dynamical systems

    Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

    3 Citations (Scopus)
    7 Downloads (Pure)


    Synchronisation is an essential part of many controlled dynamical systems, in particular in the limb motion of legged robots. In this paper we introduce a novel control strategy that allows synchronisation of two oscillators without using any external power, but by modulating the power flow between the two oscillators. We then derive a separate energy- level controller that regulates the oscillation amplitude, again without changing the system’s total energy. Finally, we show that the strategy works on a realistic mechanical system, by synchronising the phase difference and apex height of two bouncing masses.
    Original languageUndefined
    Title of host publicationProceedings of the 2014 IEEE International Conference on Robotics & Automation (ICRA 2014)
    Place of PublicationUSA
    Number of pages6
    ISBN (Print)978-1-4799-3684-7
    Publication statusPublished - Jun 2014
    Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
    Duration: 31 May 20147 Jun 2014

    Publication series

    PublisherIEEE Robotics and Automation Society


    Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    Abbreviated titleICRA
    CityHong Kong


    • EWI-24797
    • Synchronisation
    • METIS-304115
    • IR-91350
    • Control
    • Port Hamiltonian Systems

    Cite this