@inproceedings{aaf1818a64fc46c28531127b746df1a7,
title = "Power-continuous Synchronisation of Oscillators: a novel, energy-free way to synchronise dynamical systems",
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{\textquoteright}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.",
keywords = "EWI-24797, Synchronisation, METIS-304115, IR-91350, Control, Port Hamiltonian Systems",
author = "Folkertsma, \{Gerrit Adriaan\} and Stefano Stramigioli and \{van der Schaft\}, Arjan",
year = "2014",
month = jun,
doi = "10.1109/ICRA.2014.6907049",
language = "Undefined",
isbn = "978-1-4799-3684-7",
publisher = "IEEE",
pages = "1493--1498",
booktitle = "Proceedings of the 2014 IEEE International Conference on Robotics \& Automation (ICRA 2014)",
address = "United States",
note = "2014 IEEE International Conference on Robotics and Automation, ICRA 2014 ; Conference date: 31-05-2014 Through 07-06-2014",
}