Bifurcation-Based Control Law for Pattern Generation

Parayil, A and Ratnoo, A (2019) Bifurcation-Based Control Law for Pattern Generation. In: IEEE Control Systems Letters, 3 (2). pp. 374-379.

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Abstract

This letter introduces a novel control framework for a unicycle model to generate an extensive set of motion patterns. With a set of design parameters, the proposed control law leads to Andronov-Hopf bifurcation in speed-scaled angular velocity space of the agent. Using the normal form theory, the generated patterns are shown to be identical to the parametric form of trochoid curves. Considering a comprehensive classification of the generated patterns, the limit cycle characteristics are used to deduce corresponding ranges of the design parameters. © 2017 IEEE.

Item Type:	Journal Article
Publication:	IEEE Control Systems Letters
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to Institute of Electrical and Electronics Engineers Inc.
Keywords:	Control theory, Agent-based systems; Andronov-Hopf bifurcation; Control framework; Design parameters; Motion pattern; Normal form theory; Parametric forms; Pattern Generation, Hopf bifurcation
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	13 Dec 2022 05:36
Last Modified:	13 Dec 2022 05:36
URI:	https://eprints.iisc.ac.in/id/eprint/78356

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