Repository logo

Infoscience

  • English
  • French
Log In
Logo EPFL, École polytechnique fédérale de Lausanne

Infoscience

  • English
  • French
Log In
  1. Home
  2. Academic and Research Output
  3. Journal articles
  4. A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape
 
research article

A General Family of Morphed Nonlinear Phase Oscillators with Arbitrary Limit Cycle Shape

Ajallooeian, Mostafa  
•
van den Kieboom, Jesse  
•
Mukovskiy, Albert
Show more
2013
Physica D: Nonlinear Phenomena

We present a general family of nonlinear phase oscillators which can exhibit arbitrary limit cycle shapes and infinitely large basins of attraction. This general family is the superset of familiar control methods like PD-control over a periodic reference, and rhythmic Dynamical Movement Primitives. The general methodology is based on morphing the limit cycle of an existing phase oscillator with phase-based scaling functions to obtain a desired limit cycle behavior. The introduced methodology can be represented as first, second, or n-th order dynamical systems. The elegance of the formulation provides the possibility to define explicit arbitrary convergence behavior for simple cases. We analyze the stability properties of the methodology with the Poincare-Bendixson theorem and the Contraction Theory, and use numerical simulations to show the properties of some oscillators that are a subset of this general family. (C) 2013 Elsevier B.V. All rights reserved.

  • Details
  • Metrics
Type
research article
DOI
10.1016/j.physd.2013.07.016
Web of Science ID

WOS:000326559800004

Author(s)
Ajallooeian, Mostafa  
van den Kieboom, Jesse  
Mukovskiy, Albert
Giese, Martin
Ijspeert, Auke  
Date Issued

2013

Publisher

Elsevier Science Bv

Published in
Physica D: Nonlinear Phenomena
Volume

263

Start page

41

End page

56

Subjects

Nonlinear oscillator

•

Limit cycle shape

•

Convergence behavior

•

Poincare-Bendixson theorem

•

Contraction Theory

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
BIOROB  
Available on Infoscience
July 29, 2013
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/93562
Logo EPFL, École polytechnique fédérale de Lausanne
  • Contact
  • infoscience@epfl.ch

  • Follow us on Facebook
  • Follow us on Instagram
  • Follow us on LinkedIn
  • Follow us on X
  • Follow us on Youtube
AccessibilityLegal noticePrivacy policyCookie settingsEnd User AgreementGet helpFeedback

Infoscience is a service managed and provided by the Library and IT Services of EPFL. © EPFL, tous droits réservés