The suspension system is referred to as the set of springs, shock absorbers, and linkages that connect the car to the wheel system. The main purpose of the suspension system is to provide comfort for the passengers, which is created by reducing the effects of road bumpiness. It is worth noting that reducing the effects of such vibrations also diminishes the noise and undesirable sound as well as the effects of fatigue on mechanical parts of the vehicle. Due to the (...) importance of the abovementioned issues, the objective of this article is to reduce such vibrations on the car by implementing an active control method on the suspension system. For this purpose, a conventional first-order sliding mode controller has been designed for stochastic control of the quarter-car model. It is noteworthy that this controller has a significant ability to overcome the stochastic effects, uncertainty, and deal with nonlinear factors. To design a controller, the governing dynamical equation of the quarter-car system has been presented by considering the nonlinear terms in the springs and shock absorber, as well as taking into account the uncertainty factors in the system and the actuator. The design process of the sliding mode controller has been presented and its stability has been investigated in terms of the Lyapunov stability. In the current research, road surface variations are considered as Gaussian white noise. The dynamical system behavior for controlled and uncontrolled situations has been simulated and the extracted results have been presented. Besides, the effects of existing uncertainty in the suspension system and actuator have been evaluated and controller robustness has been checked. Also, the obtained quantitative and qualitative compressions have been presented. Moreover, the effect of controller parameters on the basin of attraction set and its extensiveness has been assessed. The achieved results have indicated the good performance and significant robustness of the designed controller to stabilize the suspension system and mitigate the effects of road bumpiness in the presence of uncertainty and noise factors. (shrink)

This paper studies the problems of tip position regulation and vibration suppression of flexible manipulators without using the model. Because of the two-timescale characteristics of flexible manipulators, applying the existing model-free control methods may lead to ill-conditioned numerical problems. In this paper, the dynamics of a flexible manipulator is decomposed into two subsystems which are linear and controllable at different timescales by singular perturbation theory and a model-free composite controller is designed to alleviate the ill-conditioned numerical problems. To do this, (...) a model-free composite control strategy is constructed which facilitates in designing the controller in slow and fast timescales. In the slow timescale, the slow subsystem controller is designed by adaptive dynamic programming based on the measurements of the slow inputs and the position, while the vibration in the slow timescale is estimated by the least square method. In the fast timescale, the vibration is reconstructed based on the measurements of vibration and its estimate in the slow timescale, by which the fast controller is designed using ADP. Stability of the closed-loop system is proved by SP theory. Finally, simulations are given to show the feasibility and effectiveness of the proposed methods. (shrink)

The vestibular system is critical for human locomotion. Any deteriorated vestibular system leads to gait instability. In the past decades, these alternations in gait patterns have been majorly measured by the spatial-temporal gait parameters and respective variabilities. However, measuring gait characteristics cannot capture the full aspect of motor controls. Thus, to further understand the effects of deteriorated vestibular system on gait performance, additional measurement needs to be taken into consideration. This study proposed using the margin of stability to identify the (...) patterns of dynamic control under different types of mastoid vibrations in walking. This study hypothesized that using the MOS method could facilitate the understanding of another aspect of motor control induced by different types of mastoid vibrations, and applying the mastoid vibrations could induce the asymmetric MOS. Twenty healthy young adults were recruited. Two electromechanical vibrotactile transducers were placed on the bilateral mastoid process to apply different types of vestibular vibrations. A motion capture system with eight cameras was used to measure the MOSap, MOSml, and respective variabilities. The results were in line with the hypotheses that both bilateral and unilateral mastoid vibrations significantly increased MOSap, MOSml, and respective variabilities p = 0.001, p < 0.001; p = 0.001, p < 0.01 when compared to the no vibration condition. Also, significantly larger MOSml, MOSml variability, MOSap, and MOSap variability were observed under the unilateral vibration condition than that observed under the bilateral vibration condition. The above-mentioned result found that different types of mastoid vibrations affected the MOS differently, suggesting different patterns of control mechanisms under different sensory-conflicted situations. Besides, a significant difference between the dominant and non-dominant legs was observed in MOSml. Moreover, applying the unilateral mastoid vibrations induced a greater symmetric index of MOSml, suggesting that more active control in balance was needed in the medial-lateral than in the anterior-posterior direction. (shrink)

In dynamic system control, cognitive mechanisms and abilities underlying performance may vary depending on the nature of the task. We therefore investigated the effects of system structure and its interaction with cognitive abilities on system control performance. A sample of 127 university students completed a series of different system control tasks that were manipulated in terms of system size and recurrent feedback, either with or without a cognitive load manipulation. Cognitive abilities assessed included reasoning ability, working memory capacity, and cognitive (...) reflection. System size and recurrent feedback affected overall performance as expected. Overall, the results support that cognitive ability is a good predictor of performance in dynamic system control tasks but predictiveness is reduced when the system structure contains recurrent feedback. We discuss this finding from a cognitive processing perspective as well as its implications for individual differences research in dynamic systems. (shrink)

This paper introduces a novel method to control the operation of the active suspension system. In this research, a quarter-dynamic model is used to simulate the vehicle’s vibrations. Besides, the sliding mode-PID-integrated algorithm with five state variables is proposed to be used. This is a completely original and novel algorithm. The process of establishing the control algorithm is clearly described. The simulation is performed by the MATLAB software. The results of the paper have shown the advantages of the sliding mode-PID (...) algorithm used in this research. Accordingly, the displacement and acceleration of the sprung mass were significantly reduced when this algorithm was used. The maximum and average values of the displacement of the sprung mass are only 1.31% and 1.29%, respectively, compared with the situation of the vehicle using a passive suspension. Similarly, the value of the acceleration is 6.98% and 2.94%, respectively. In addition, the phenomenon of “chattering” has also been significantly reduced when using this controller. In the future, some more complex algorithms can be proposed. (shrink)

Current models of speech motor control rely on either trajectory-based control (DIVA, GEPPETO, ACT) or a dynamical systems approach based on feedback control (Task Dynamics, FACTS). While both approaches have provided insights into the speech motor system, it is difficult to connect these findings across models given the distinct theoretical and computational bases of the two approaches. We propose a new extension of the most widely used dynamical systems approach, Task Dynamics, that incorporates many of the strengths of (...) trajectory-based approaches, providing a way to bridge the theoretical divide between what have been two separate approaches to understanding speech motor control. The Task Dynamics (TD) model posits that speech gestures are governed by point attractor dynamics consistent with a critically damped harmonic oscillator. Kinematic trajectories associated with such gestures should therefore be consistent with a second-order dynamical system, possibly modified by blending with temporally overlapping gestures or altering oscillator parameters. This account of observed kinematics is powerful and theoretically appealing, but may be insufficient to account for deviations from predicted kinematics – i.e., changes produced in response to some external perturbations to the jaw, changes in control during acquisition and development, or effects of word/syllable frequency. Optimization, such as would be needed to minimize articulatory effort, is also incompatible with the current TD model, though the idea that the speech production systems economizes effort has a long history and, importantly, also plays a critical role in current theories of domain-general human motor control. To address these issues, we use Dynamic Movement Primitives (DMPs) to expand a dynamical systems framework for speech motor control to allow modification of kinematic trajectories by incorporating a simple, learnable forcing term into existing point attractor dynamics. We show that integration of DMPs with task- based point-attractor dynamics enhances the potential explanatory power of TD in a number of critical ways, including the ability to account for external forces in planning and optimizing both kinematic and dynamic movement costs. At the same time, this approach preserves the successes of Task Dynamics in handling multi-gesture planning and coordination. (shrink)

With contributions from a number of pioneering researchers in the field, this collection is aimed not only at researchers and scientists in nonlinear dynamics but also at a broader audience interested in understanding and exploring how modern chaos theory has developed since the days of Poincaré. This book was motivated by and is an outcome of the CHAOS 2015 meeting held at the Henri Poincaré Institute in Paris, which provided a perfect opportunity to gain inspiration and discuss new perspectives on (...) the history, development and modern aspects of chaos theory. Henri Poincaré is remembered as a great mind in mathematics, physics and astronomy. His works, well beyond their rigorous mathematical and analytical style, are known for their deep insights into science and research in general, and the philosophy of science in particular. The Poincaré conjecture (only proved in 2006) along with his work on the three-body problem are considered to be the foundation of modern chaos theory. (shrink)

Aiming at suppressing harmful effect for building structure by surface motion, semiactive nonsmooth control algorithm with Deep Learning is proposed. By finite-time stable theory, the building structure closed-loop system’s stability is discussed under the proposed control algorithm. It is found that the building structure closed-loop system is stable. Then the proposed control algorithm is applied on controlling the building structural vibration. The seismic action is chosen as El Centro seismic wave. Dynamic characteristics have comparative analysis between semiactive nonsmooth control and (...) passive control in two simulation examples. They demonstrate that the designed control algorithm has great robustness and anti-interference. The proposed control algorithm is more effective than passive control in suppressing structural vibration. (shrink)

Dynamical systems theory (DST) is a branch of mathematics that assesses abstract or physical systems that change over time. It has a quantitative part (mathematical equations) and a related qualitative part (plotting equations in a state space). Nonlinear dynamical systems theory applies the same tools in research involving phenomena such as chaos and hysteresis. These approaches have provided different ways of investigating and understanding cognitive systems in cognitive science and neuroscience. The ‘dynamical hypothesis’ claims that cognition is (...) and can be understood as dynamical systems. Common consequences for such an approach include rejecting understanding cognition as information processing in nature, including eschewing explanatory roles for computation or representation. Contemporary applications of DST include mouse‐tracking studies in cognitive science and nonrepresentational perspectives on motor control in neuroscience. Such work has philosophical implications concerning the boundaries of cognition, explanation, and representations. DST offers powerful methodology and theories that raise many topics of philosophical significance. (shrink)

With the advent of computers in the experimental labs, dynamic systems have become a new tool for research on problem solving and decision making. A short review of this research is given and the main features of these systems (connectivity and dynamics) are illustrated. To allow systematic approaches to the influential variables in this area, two formal frameworks (linear structural equations and finite state automata) are presented. Besides the formal background, the article sets out how the task demands of system (...) identification and system control can be realised in these environments, and how psychometrically acceptable dependent variables can be derived. (shrink)

This book develops a general analysis and synthesis framework for impulsive and hybrid dynamical systems.

Dynamical systems promise to elucidate a notion of top–down causation without violating the causal closure of physical events. This approach is particularly useful for the problem of mental causation. Since dynamical systems seek out, appropriate, and replace physical substrata needed to continue their structural pattern, the system is autonomous with respect to its components, yet the components constitute closed causal chains. But how can systems have causal power over their substrates, if each component is sufficiently caused by other (...) components? Suppose every causal relation requires background conditions, without which it is insufficient. The dynamical system is structured with a tendency to change background conditions for causal relations anytime needed substrates for the pattern's maintenance are missing; under the changed background conditions, alternative causal relations become sufficient to maintain the pattern. The system controls the background conditions under which one or another causal relation can subserve the system's overall pattern, while the components remain causally closed under their given background conditions. (shrink)

Aerial work platform is a kind of engineering vehicle which is used for hoisting personnel to the appointed place for maintenance or installation. Based on the dynamics model considering the flexible deformation existing in the arm system of folding-boom aerial platform vehicle, this study presents a NN-based backstepping controller used for trajectory tracking control of work platform. The proposed controller can reduce tracking error of work platform and suppress the vibration simultaneously by using the RBF neural network system to compensate (...) model uncertainties and disturbances. Furthermore, we prove that the whole system is stable and convergent by Lyapunov stability theorem. In addition, we give the simulation results which show that the good control performance of the designed controller for trajectory tracking and vibration inhabiting of work platform in the case of model uncertainties. (shrink)

The stabilization problem of a macroeconomic dynamical system is considered in this paper. The main features of this system are that the system uncertainties may be unknown functions of state and time but with known bounds. Furthermore, the control inputs are subject to constraints, which is a salient feature in an economic control problem. To ensure that the controls are within the specified boundaries, in our control design procedure, a creative diffeomorphism, which converts bounded controls into unbounded corresponding signals (...) by choosing an appropriate transformation function, is proposed. For the uncertain system, a deterministic robust control is designed to render the practical stability: uniform boundedness and uniform ultimate boundedness. The range of the input bounds is related to the uncertainties and can be designed according to the actual situation. Numerical simulations are performed to verify the effectiveness of the stabilization policy. (shrink)

This paper deals with designing a harvesting control strategy for a predator–prey dynamical system, with parametric uncertainties and exogenous disturbances. A feedback control law for the harvesting rate of the predator is formulated such that the population dynamics is asymptotically stabilized at a positive operating point, while maintaining a positive, steady state harvesting rate. The hierarchical block strict feedback structure of the dynamics is exploited in designing a backstepping control law, based on Lyapunov theory. In order to account for (...) unknown parameters, an adaptive control strategy has been proposed in which the control law depends on an adaptive variable which tracks the unknown parameter. Further, a switching component has been incorporated to robustify the control performance against bounded disturbances. Proofs have been provided to show that the proposed adaptive control strategy ensures asymptotic stability of the dynamics at a desired operating point, as well as exact parameter learning in the disturbance-free case and learning with bounded error in the disturbance prone case. The dynamics, with uncertainty in the death rate of the predator, subjected to a bounded disturbance has been simulated with the proposed control strategy. (shrink)

We show how a simple nonlinear dynamical system (the discrete quadratic iteration on the unit segment) can be the basis for modelling the embryogenesis process. Such an approach, even though being crude, can nevertheless prove to be useful when looking with the two main involved processes:i) on one hand the cell proliferation under successive divisions ii) on the other hand, the differentiation between cell lineages. We illustrate this new approach in the case of Caenorhabditis elegans by looking at the (...) early stages of embryogenesis, up to several hundreds of cells (lima bean larval stage). We show how the many results that have been obtained by several groups can be interpreted in terms of values for the parameters controlling the dynamical system. Furthermore, we can extend the model to the cases of genetic mutations. More precisely the teratogenetic and lethal effects are associated with abnormal variation of the control parameters with time. (shrink)

Actuator saturation phenomenon often exists in the actual control system, which could destroy the closed-loop performance of the system and even lead to unstable behavior. Our main contribution is to provide an antiwindup recursive dynamic surface control for a discrete-time system with an unknown state and actuator saturation. The fuzzy compensator is added to perform as an active disturbance rejection term in the feedforward path to avoid windup caused by input saturation. To construct output feedback control, the system is transformed (...) into the form of pure-feedback and an improved HOSM observer is designed to carry out future output prediction. Based on which RDSC is synthesized, only one fuzzy logic system is used and the controller singularity is completely avoided. In addition, the simulation and numeral examples using a continuous stirred tank reactors system with actuator saturation are provided and the results show that the strategy owns good robustness and effectively compensates for the disturbance caused by actuator saturation in the presence of a discrete-time system with an unmeasurable state. (shrink)

Morphogenesis is a key process in developmental biology. An important issue is the understanding of the generation of shape and cellular organisation in tissues. Despite of their great diversity, morphogenetic processes share common features. This work is an attempt to describe this diversity using the same formalism based on a cellular description. Tissue is seen as a multi-cellular system whose behaviour is the result of all constitutive cells dynamics. Morphogenesis is then considered as a spatiotemporal organization of cells activities. We (...) show how this formalism relies on Reaction–Diffusion/Positional Information approach and how it permits to generalize its modelling possibilities. Three quite different applications for concrete morphogenetic processes are presented. The first one is a model for epithelial invagination, the second is a model of cellular differentiation by local cell–cell signalling. The last example is the secondary radial growth of conifer trees. From the mathematical point of view, different modelling tools are used according to the specificity of each process. (shrink)

To controlforceaccurately under a wide range of behavioral conditions, the central nervous system would either require a detailed, continuously updated representation of the state of each muscle (and the load against which each is acting) or else force feedback with sufficient gain to cope with variations in the properties of the muscles and loads. The evidence for force feedback with adequate gain or for an appropriate central representation is not sufficient to conclude that force is the major controlled variable in (...) normal limb movements.Morton's hypothesis, thatlengthis controlled by a follow-up servo, has a number of difficulties related to the delays, gains, variability, and specificity in feedback pathways comprising potential servo loops. However, experimental evidence is consistent with these pathways providing servo assistance for some movements produced by coactivation of α- and static γ-motoneurons. Dynamic γ-motoneurons may provide an additional input for adaptive control of different types of movements.The idea that feedback is used to compensate for changes in musclestiffnesshas received experimental support under static postural conditions. However, reflexes tend to increase rather than decrease the range of variation in muscle stiffness during some cyclic movements. Theoretical problems associated with the regulation of stiffness are also discussed. The possibilities of separate control systems forvelocityorviscosityare considered, but the evidence is either negative or lacking. I conclude that different physical variables can be controlled depending on the type of limb movement required. The concept of stiffness regulation is also useful under some conditions, but should probably be extended to the regulation of the visco-elastic properties (i.e., the mechanical impedance) of a muscle or joint. (shrink)

In philosophical studies regarding mathematical models of dynamical systems, instability due to sensitive dependence on initial conditions, on the one side, and instability due to sensitive dependence on model structure, on the other, have by now been extensively discussed. Yet there is a third kind of instability, which by contrast has thus far been rather overlooked, that is also a challenge for model predictions about dynamical systems. This is the numerical instability due to the employment of numerical methods (...) involving a discretization process, where discretization is required to solve the differential equations of dynamical systems on a computer. We argue that the criteria for numerical stability, as usually provided by numerical analysis textbooks, are insufficient, and, after mentioning the promising development of backward analysis, we discuss to what extent, in practice, numerical instability can be controlled or avoided. (shrink)

Misunderstanding of the dynamical behavior of the ventilatory system, especially under assisted ventilation, may explain the problems encountered in ventilatory support monitoring. Proportional assist ventilation (PAV) that theoretically gives a breath by breath assistance presents instability with high levels of assistance. We have constructed a mathematical model of interactions between three objects: the central respiratory pattern generator modelled by a modified Van der Pol oscillator, the mechanical respiratory system which is the passive part of the system and a controlled (...) ventilator that follows its own law. The dynamical study of our model shows the existence of two crucial behaviors, i.e. oscillations and damping, depending on only two parameters, namely the time constant of the mechanical respiratory system and a cumulative interaction index. The same result is observed in simulations of spontaneous breathing as well as of PAV. In this last case, increasing assistance leads first to an increase of the tidal volume (VT), a further increase in assistance inducing a decrease in VT, ending in damping of the whole system to an attractive fixed point. We conclude that instabilities observed in PAV may be explained by the different possible dynamical behaviors of the system rather than changes in mechanical characteristics of the respiratory system. (shrink)

A novel conservative chaotic system with no equilibrium is investigated in this study. Various dynamics such as the conservativeness, coexistence, symmetry, and invariance are presented. Furthermore, a partial-state feedback control scheme is proposed, and the stable domain of control parameters is analyzed based on the degenerate Hopf bifurcation. In order to verify the numerical simulation analysis, an analog circuit is designed. The simulation results show that the output of the analog circuit system can reproduce the numerical simulation results and verify (...) the correctness of the theoretical analysis. (shrink)

This article reports on a study that took a Dynamic Systems Theory perspective to second language motivational self system. More specifically, it investigated the influence of an Intensive English Reading course based on the Production-Oriented Approach upon the L2MSS of Chinese university English majorsfrom the DST perspective. To this end, two intact classes composed of 50 students were assigned into experimental group and control group, who responded to an L2MSS scale before and after the one-semester intervention. Eight and five students (...) were respectively selected using the purposive sampling method from the experimental and control groups for follow-up semi-structured interviews. The quantitative results revealed that the overall and dimensional levels of L2MSS were significantly strengthened over time in the EG while kept stable in the CG. The qualitative results suggested that the enhanced Ideal L2 Self of the participants stemmed from an attractor basin that was deepened by a number of attractors encompassing Output Tasks and Peer Performance. The interview results also showed that the increased L2 Learning Experience of the participants pertained to an attractor basin that was consolidated by an array of attractors containing Output Tasks, Teacher Guidance, Group Discussion, and Peer Assessment. The findings indicated that the attractors at the subjective and social dimensions in the POA-based course collectively worked together to cause changes in L2MSS among the participants. The implications for intervening L2 motivation from a POA approach in English as a Foreign Language classrooms were discussed. (shrink)

The overall goal of this target article is to demonstrate a mechanism for an embodied cognition. The particular vehicle is a much-studied, but still widely debated phenomenon seen in 7–12 month-old-infants. In Piaget's classic “A-not-B error,” infants who have successfully uncovered a toy at location “A” continue to reach to that location even after they watch the toy hidden in a nearby location “B.” Here, we question the traditional explanations of the error as an indicator of infants' concepts of objects (...) or other static mental structures. Instead, we demonstrate that the A-not-B error and its previously puzzling contextual variations can be understood by the coupled dynamics of the ordinary processes of goal-directed actions: looking, planning, reaching, and remembering. We offer a formal dynamic theory and model based on cognitive embodiment that both simulates the known A-not-B effects and offers novel predictions that match new experimental results. The demonstration supports an embodied view by casting the mental events involved in perception, planning, deciding, and remembering in the same analogic dynamic language as that used to describe bodily movement, so that they may be continuously meshed. We maintain that this mesh is a pre-eminently cognitive act of “knowing” not only in infancy but also in everyday activities throughout the life span. Key Words: cognitive development; dynamical systems theory; embodied cognition; infant development; motor control; motor planning; perception and action. (shrink)

In this paper, a 3D jerk chaotic system with hidden attractor was explored, and the dissipativity, equilibrium, and stability of this system were investigated. The attractor types, Lyapunov exponents, and Poincare section of the system under different parameters were analyzed. Additionally, a circuit was carried out, and a good similarity between the circuit experimental results and the theoretical analysis testifies the feasibility and practicality of the original system. Furthermore, a robust feedback controller was designed based on the finite-time stability theory, (...) which guarantees the synchronization of 3D jerk master-slave system in finite time and asymptotically converges to the origin. Finally, we also give verification for the discussion in this paper by numerical simulation. (shrink)

This paper proposes a novel robust fixed-time control for the robot manipulator system with uncertainties. Based on the uniform robust exact differentiator algorithm, a robust control term is constructed. Then, a robust fixed-time inverse dynamics control is proposed. For the proposed control method, the fixed-time stability of a closed-loop system with uncertainties is strictly proved. The newly proposed method exhibits the following two attractive features. First, the proposed control scheme extends the existing fixed-time IDC for the robot manipulator system to (...) the robust control scheme. Second, the proposed method is strictly nonsingular rather than the commonly used approximate approach. Simulation result demonstrates the effectiveness of the proposed control scheme. (shrink)

A critical issue in executive control is how the nervous system exerts flexibility to inhibit a prepotent response and adapt to sudden changes in the environment. In this study, force measurement was used to capture “partial” unsuccessful trials that are highly relevant in extending the current understanding of motor inhibition processing. Moreover, a modified version of the stop-signal task was used to control and eliminate potential attentional capture effects from the motor inhibition index. The results illustrate that the non-canceled force (...) and force rate increased as a function of stop-signal delay, offering new objective indices for gauging the dynamic inhibitory process. Motor response was a function of delay in the presentation of novel/infrequent stimuli. A larger lateralized readiness potential amplitude in go and novel stimuli indicated an influence of the novel stimuli on central motor processing. Moreover, an early N1 component reflects an index of motor inhibition in addition to the N2 component reported in previous studies. Source analysis revealed that the activation of N2 originated from inhibitory control associated areas: the right inferior frontal gyrus, pre-motor cortex, and primary motor cortex. Regarding partial responses, LRP and error-related negativity were associated with error correction processes, whereas the N2 component may indicate the functional overlap between inhibition and error correction. In sum, the present study has developed reliable and objective indices of motor inhibition by introducing force, force-rate and electrophysiological measures, further elucidating our understandings of dynamic motor inhibition and error correction. (shrink)

In this paper, a mathematical model was used to evaluate a dynamical hybrid system for optimizing and controlling the efficacy of plant-based protein in aquafeeds. Fishmeal, raw rapeseed meal, and a fermented meal with yeast and fungi were used as test ingredients for the determination of apparent digestibility coefficients of dry matter, crude protein, crude lipid, energy, and essential amino acids for olive flounder using diets containing 0.5% Cr2O3 as an inert indicator. Among all ingredients tested, FM had the (...) maximum ADC of dry matter, and energy. Fermented meals showed higher ADC. Amino acid digestibility reflects protein digestibility in most cases. Interestingly, protease, lipase, and amylase activities were better expressed in RM-Koji, RM-Yeast, and FM over RM, respectively. The current results deliver important information on nutrients and energy bioavailability in raw and fermented RM, which can be implemented to accurately formulate applied feeds for olive flounder. Compared with other applicable systems, the complexity of the approach implemented has been considerably reduced. (shrink)

Engineers fine-tune the design of robot bodies for control purposes, however, a methodology or set of tools is largely absent, and optimization of morphology (shape, material properties of robot bodies, etc.) is lagging behind the development of controllers. This has become even more prominent with the advent of compliant, deformable or ”soft” bodies. These carry substantial potential regarding their exploitation for control—sometimes referred to as ”morphological computation”. In this article, we briefly review different notions of computation by physical systems and (...) propose the dynamical systems framework as the most useful in the context of describing and eventually designing the interactions of controllers and bodies. Then, we look at the pros and cons of simple vs. complex bodies, critically reviewing the attractive notion of ”soft” bodies automatically taking over control tasks. We address another key dimension of the design space—whether model-based control should be used and to what extent it is feasible to develop faithful models for different morphologies. (shrink)

This paper studies a simple dynamical system of stock price fluctuation time series based on the rule of stock market. When the stock price fluctuation system is disturbed by external excitations, the system exhibits obviously chaotic phenomena, and its basic dynamic properties are analyzed. At the same time, a new fixed-time convergence theorem is proposed for achieving fixed-time control of stock price fluctuation system. Finally, the effectiveness of the method is verified by numerical simulation.

Although there is a substantial philosophical literature on dynamical systems theory in the cognitive sciences, the same is not the case for neuroscience. This paper attempts to motivate increased discussion via a set of overlapping issues. The first aim is primarily historical and is to demonstrate that dynamical systems theory is currently experiencing a renaissance in neuroscience. Although dynamical concepts and methods are becoming increasingly popular in contemporary neuroscience, the general approach should not be viewed as something (...) entirely new to neuroscience. Instead, it is more appropriate to view the current developments as making central again approaches that facilitated some of neuroscience’s most significant early achievements, namely, the Hodgkin–Huxley and FitzHugh–Nagumo models. The second aim is primarily critical and defends a version of the “dynamical hypothesis” in neuroscience. Whereas the original version centered on defending a noncomputational and nonrepresentational account of cognition, the version I have in mind is broader and includes both cognition and the neural systems that realize it as well. In view of that, I discuss research on motor control as a paradigmatic example demonstrating that the concepts and methods of dynamical systems theory are increasingly and successfully being applied to neural systems in contemporary neuroscience. More significantly, such applications are motivating a stronger metaphysical claim, that is, understanding neural systems as being dynamical systems, which includes not requiring appeal to representations to explain or understand those phenomena. Taken together, the historical claim and the critical claim demonstrate that the dynamical hypothesis is undergoing a renaissance in contemporary neuroscience. (shrink)

This paper proposes a novel adaptive dynamic programming approach to address the optimal consensus control problem for discrete-time multiagent systems. Compared with the traditional optimal control algorithms for MASs, the proposed algorithm is designed on the basis of the event-triggered scheme which can save the communication and computation resources. First, the consensus tracking problem is transferred into the input-state stable problem. Based on this, the event-triggered condition for each agent is designed and the event-triggered ADP is presented. Second, neural networks (...) are introduced to simplify the application of the proposed algorithm. Third, the stability analysis of the MASs under the event-triggered conditions is provided and the estimate errors of the neural networks’ weights are also proved to be ultimately uniformly bounded. Finally, the simulation results demonstrate the effectiveness of the event-triggered ADP consensus control method. (shrink)

The problem of finite-time tracking control is discussed for a class of uncertain nonstrict-feedback time-varying state delay nonlinear systems with full-state constraints and unmodeled dynamics. Different from traditional finite-control methods, a C 1 smooth finite-time adaptive control framework is introduced by employing a smooth switch between the fractional and cubic form state feedback, so that the desired fast finite-time control performance can be guaranteed. By constructing appropriate Lyapunov-Krasovskii functionals, the uncertain terms produced by time-varying state delays are compensated for and (...) unmodeled dynamics is coped with by introducing a dynamical signal. In order to avoid the inherent problem of “complexity of explosion” in the backstepping-design process, the DSC technology with a novel nonlinear filter is introduced to simplify the structure of the controller. Furthermore, the results show that all the internal error signals are driven to converge into small regions in a finite time, and the full-state constraints are not violated. Simulation results verify the effectiveness of the proposed method. (shrink)

Biological regulation is what allows an organism to handle the effects of a perturbation, modulating its own constitutive dynamics in response to particular changes in internal and external conditions. With the central focus of analysis on the case of minimal living systems, we argue that regulation consists in a specific form of second-order control, exerted over the core regime of production and maintenance of the components that actually put together the organism. The main argument is that regulation requires a distinctive (...) architecture of functional relationships, and specifically the action of a dedicated subsystem whose activity is dynamically decoupled from that of the constitutive regime. We distinguish between two major ways in which control mechanisms contribute to the maintenance of a biological organisation in response to internal and external perturbations: dynamic stability and regulation. Based on this distinction an explicit definition and a set of organisational requirements for regulation are provided, and thoroughly illustrated through the examples of bacterial chemotaxis and the lac-operon. The analysis enables us to mark out the differences between regulation and closely related concepts such as feedback, robustness and homeostasis. (shrink)

Important similarities exist between the dynamical concepts implicit in Feldman & Levin's extended λ model and those basic to a dynamical systems approach. We argue that careful application of the key concepts of control and order parameters, equilibria, and stability, can relate known facts of neuromuscular processes to the observables of functional, task-specific behavior.

Feedback control in neural systems is ubiquitous. Here we study the mathematics of nonlinear feedback control. We compare models in which the input is multiplied by a dynamic gain (multiplicative control) with models in which the input is divided by a dynamic attenuation (divisive control). The gain signal (resp. the attenuation signal) is obtained through a concatenation of an instantaneous nonlinearity and a linear low-pass filter operating on the output of the feedback loop. For input steps, the dynamics of gain (...) and attenuation can be very different, depending on the mathematical form of the nonlinearity and the ordering of the nonlinearity and the filtering in the feedback loop. Further, the dynamics of feedback control can be strongly asymmetrical for increment versus decrement steps of the input. Nevertheless, for each of the models studied, the nonlinearity in the feedback loop can be chosen such that immediately after an input step, the dynamics of feedback control is symmetric with respect to increments versus decrements. Finally, we study the dynamics of the output of the control loops and find conditions under which overshoots and undershoots of the output relative to the steady-state output occur when the models are stimulated with low-pass filtered steps. For small steps at the input, overshoots and undershoots of the output do not occur when the filtering in the control path is faster than the low-pass filtering at the input. For large steps at the input, however, results depend on the model, and for some of the models, multiple overshoots and undershoots can occur even with a fast control path. (shrink)

A dynamic learning method is developed for an uncertain n-link robot with unknown system dynamics, achieving predefined performance attributes on the link angular position and velocity tracking errors. For a known nonsingular initial robotic condition, performance functions and unconstrained transformation errors are employed to prevent the violation of the full-state tracking error constraints. By combining two independent Lyapunov functions and radial basis function neural network approximator, a novel and simple adaptive neural control scheme is proposed for the dynamics of the (...) unconstrained transformation errors, which guarantees uniformly ultimate boundedness of all the signals in the closed-loop system. In the steady-state control process, RBF NNs are verified to satisfy the partial persistent excitation condition. Subsequently, an appropriate state transformation is adopted to achieve the accurate convergence of neural weight estimates. The corresponding experienced knowledge on unknown robotic dynamics is stored in NNs with constant neural weight values. Using the stored knowledge, a static neural learning controller is developed to improve the full-state tracking performance. A comparative simulation study on a 2-link robot illustrates the effectiveness of the proposed scheme. (shrink)