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This technical note deals with the problem of asymptotically stabilizing the splay state configuration of a network of identical pulse coupled oscillators through the design of the their phase response function. The network of pulse coupled…
The synchronized activity of neuronal populations can lead to pathological over-synchronization in conditions such as epilepsy and Parkinson disease. Such states can be desynchronized by brief electrical pulses. But when the underlying…
We show that for pulse coupled oscillators a class of phase response curves with both excitation and inhibition exhibit robust convergence to synchrony on arbitrary aperiodic connected graphs with delays. We describe the basins of…
Coupled oscillator-based networks are an attractive approach for implementing hardware neural networks based on emerging nanotechnologies. However, the readout of the state of a coupled oscillator network is a difficult challenge in…
We propose a new algorithm to simplify the controller development for distributed robotic systems subject to external observations, disturbances, and communication delays. Unlike prior approaches that propose specialized solutions to…
Distributed model predictive control (DMPC) is a flexible and scalable feedback control method applicable to a wide range of systems. While the stability analysis of DMPC is quite well understood, there exist only limited implementation…
We consider networks of delay-coupled Stuart-Landau oscillators. In these systems, the coupling phase has been found to be a crucial control parameter. By proper choice of this parameter one can switch between different synchronous…
The hierarchical quadratic programming (HQP) is commonly applied to consider strict hierarchies of multi-tasks and robot's physical inequality constraints during whole-body compliance. However, for the one-step HQP, the solution can…
Dynamical systems can be coupled in a manner that is designed to drive the resulting dynamics onto a specified lower dimensional submanifold in the phase space of the combined system. On the submanifold, the variables of the two systems…
In this paper, we consider the synchronization of heterogeneous pulse-coupled oscillators (PCOs), where some of the oscillators might be faulty or malicious. The oscillators interact through identical pulses at discrete instants and evolve…
This paper addresses the synchronization rate of weakly connected pulse-coupled oscillators (PCOs). We prove that besides coupling strength, the phase response function is also a determinant of synchronization rate. Inspired by the result,…
We present a control framework for achieving encirclement of a target moving in 3D using a multi-robot system. Three variations of a basic control strategy are proposed for different versions of the encirclement problem, and their…
In this paper, we present a distributed model predictive control (DMPC) scheme for dynamically decoupled systems which are subject to state constraints, coupling state constraints and input constraints. In the proposed control scheme,…
Coupled oscillator networks provide mathematical models for interacting periodic processes. If the coupling is weak, phase reduction -- the reduction of the dynamics onto an invariant torus -- captures the emergence of collective dynamical…
Controlling rhythmic systems, typically modeled as limit-cycle oscillators, is an important subject in real-world problems. Phase reduction theory, which simplifies the multidimensional oscillator state under weak input to a single phase…
Dynamical decoupling can be used to preserve arbitrary quantum states despite undesired interactions with the environment, using control Hamiltonians affecting the system only. We present a system-independent analysis of dynamical…
The rapid growth in size of quantum devices demands efficient ways to control them, which is challenging for systems with thousands of qubits or more. Here, we present a simple yet powerful solution: robust, site-dependent control of an…
In this paper, we propose an inverse-kinematics controller for a class of multi-robot systems in the scenario of sampled communication. The goal is to make a group of robots perform trajectory tracking in a coordinated way when the sampling…
Underactuated robots are characterized by a larger number of degrees of freedom than actuators and if they are designed with a specific mass distribution, they can be controlled by means of differential flatness theory. This structural…
This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse…