Absolute Stability of General Lurie Control Systems with Multi-Nonlinear Feedback Terms

2001 ◽  
Vol 17 (4) ◽  
pp. 649-656 ◽  
Author(s):  
Zuo Xin Gan ◽  
Wei Gao Ge
Keyword(s):  
Control Systems ◽  
Absolute Stability ◽  
Nonlinear Feedback

scholarly journals Brain-like functor control machine for general humanoid biodynamics

2005 ◽  
Vol 2005 (11) ◽  
pp. 1759-1779 ◽  
Author(s):  
Vladimir Ivancevic ◽  
Nicholas Beagley
Keyword(s):  
Feedback Control ◽  
Control Systems ◽  
Inverse Kinematics ◽  
Humanoid Robot ◽  
Granule Cells ◽  
Nonlinear Feedback ◽  
Spinal Level ◽  
Cortical Level ◽  
Self Organized ◽  
Neuro Fuzzy

A novel, brain-like, hierarchical (affine-neuro-fuzzy-topological) control for biomechanically realistic humanoid-robot biodynamics (HB), formulated previously in [15, 16], is proposed in the form of a tensor-invariant, “meta-cybernetic” functor machine. It represents a physiologically inspired, three-level, nonlinear feedback controller of muscular-like joint actuators. On the spinal level, nominal joint-trajectory tracking is formulated as an affine Hamiltonian control system, resembling the spinal (autogenetic-reflex) “motor servo.” On the cerebellar level, a feedback-control map is proposed in the form of self-organized, oscillatory, neurodynamical system, resembling the associative interaction of excitatory granule cells and inhibitory Purkinje cells. On the cortical level, a topological “hyper-joystick” command space is formulated with a fuzzy-logic feedback-control map defined on it, resembling the regulation of locomotor conditioned reflexes. Finally, both the cerebellar and the cortical control systems are extended to provide translational force control for moving6-degree-of-freedom chains of inverse kinematics.

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