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Robust coordination and organization in large ensembles of nonlinear oscillatory units play a vital role in a wide range of natural and engineered system. The control of self-organizing network-coupled systems has recently seen significant…
We present an approach for reconstructing networks of pulse-coupled neuron-like oscillators from passive observation of pulse trains of all nodes. It is assumed that units are described by their phase response curves and that their phases…
In this paper, we propose a novel stochastic binary resetting algorithm for networks of pulse-coupled oscillators (or, simply, agents) to reach global synchronization. The algorithm is simple to state: Every agent in a network oscillates at…
This letter investigates the coupled control problem in UAV networks utilizing high-frequency hybrid beamsteering. While phased arrays enable rapid electronic scanning, their finite Field of View (FoV) imposes a fundamental constraint that…
Bio-inspired control of motion is an active field of research with many applications in real world tasks. In the case of robotic systems that need to exhibit oscillatory behaviour (i.e. locomotion of snake-type or legged robots), Central…
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algorithms tend to also increase in complexity. However, it is not…
This paper presents a new method for evaluating the synchronization of quasi-periodic oscillations of two oscillators, termed "chimeric synchronization". The family of metrics is proposed to create a neural network information converter…
This paper presents new methods and results on almost global synchronization of coupled Hopf nonlinear oscillators, which are commonly used as the dynamic model of engineered central pattern generators (CPGs). On balanced graphs, any…
Precise quantum control and measurement of several harmonic oscillators, such as the modes of the electromagnetic field in a cavity or of mechanical motion, are key for their use as quantum platforms. The motional modes of trapped ions can…
The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered in this paper. The main motivation comes from the problem of ensuring convergence to…
By means of numerical integration we investigate the coherent and incoherent phases in a generalized Kuramoto model of phase-coupled oscillators with distance-dependent delay. Preserving the topology of a complete graph, we arrange the…
When dealing with the haptic teleoperation of multi-limbed mobile manipulators, the problem of mitigating the destabilizing effects arising from the communication link between the haptic device and the remote robot has not been properly…
Optimal pulse patterns (OPPs) are a modulation method in which the switching angles and levels of a switching signal are computed via an offline optimization procedure to minimize a performance metric, typically the harmonic distortions of…
This paper investigates adaptive control of nonlinear robot manipulators with parametric uncertainty. Motivated by generating closed-loop robot dynamics with enhanced transmission capability of a reference torque and with connection to…
We address the challenge of effectively controlling the locomotion of legged robots by incorporating precise frequency and phase characteristics, which is often ignored in locomotion policies that do not account for the periodic nature of…
Robotic dual-arm twisting is a common but very challenging task in both industrial production and daily services, as it often requires dexterous collaboration, a large scale of end-effector rotating, and good adaptivity for object…
As power systems become more and more interconnected, the inter-area oscillations has become a serious factor limiting large power transfer among different areas. Underdamped (Undamped) inter-area oscillations may cause system breakup and…
Robotic surface consisting of many actuators can change shape to perform tasks, such as facilitating human-machine interactions and transporting objects. Increasing the number of actuators can enhance the robot's capacity, but controlling…
Algorithms for the synchronisation of clocks across networks are both common and important within distributed systems. We here address not only the formal modelling of these algorithms, but also the formal verification of their behaviour.…
Movement in biology is often achieved with distributed control of coupled subcomponents, e.g. muscles and limbs. Coupling could range from weak and local, i.e. decentralized, to strong and global, i.e. centralized. We developed a model-free…