Node-Wise Monotone Barrier Coupling Law for Formation Control

We study a node-wise monotone barrier coupling law, motivated by the synaptic coupling of neural central pattern generators. It is illustrated that this coupling imitates the desirable properties of neural central pattern generators. In particular, the coupling law (1) allows us to assign multiple c...

Full description

Saved in:
Bibliographic Details
Published in:Entropy (Basel, Switzerland) Switzerland), 2024-01, Vol.26 (2), p.134
Main Authors: Lee, Jin Gyu, Mostajeran, Cyrus, Goffrier, Graham Van
Format: Article
Language:English
Subjects:
Analysis
consensus
Coupling
formation control
Monotonic functions
neural central pattern generators
Neural circuitry
Neurons
nonlinear spaces
positivity
Synapses
Citations: Items that this one cites
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We study a node-wise monotone barrier coupling law, motivated by the synaptic coupling of neural central pattern generators. It is illustrated that this coupling imitates the desirable properties of neural central pattern generators. In particular, the coupling law (1) allows us to assign multiple central patterns on the circle and (2) allows for rapid switching between different patterns via simple 'kicks'. In the end, we achieve full control by partitioning the state space by utilizing a barrier effect and assigning a unique steady-state behavior to each element of the resulting partition. We analyze the global behavior and study the viability of the design.
ISSN:1099-4300
1099-4300
DOI:10.3390/e26020134