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

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    Abstract

    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
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages1493-1498
    Number of pages6
    ISBN (Print)978-1-4799-3684-7
    DOIs
    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

    Name
    PublisherIEEE Robotics and Automation Society

    Conference

    Conference2014 IEEE International Conference on Robotics and Automation, ICRA 2014
    Abbreviated titleICRA
    CountryChina
    CityHong Kong
    Period31/05/147/06/14

    Keywords

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

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