Node-wise monotone barrier coupling law for formation control

• Main Authors: Lee, Jin Gyu, Mostajeran, Cyrus, Van Goffrier, Graham
• Other Authors: School of Physical and Mathematical Sciences
• Format: Article
• Language: English
• Published: 2024
• Subjects: Mathematical Sciences; Neural central pattern generators; Formation control
• Online Access: https://hdl.handle.net/10356/174877
• Institution: Nanyang Technological University

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.