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arXiv 2108.07423math.DSnlin.CD
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强耦合自适应频率振荡器的慢-快动力学

Slow-fast dynamics of strongly coupled adaptive frequency oscillators

Ludovic Righetti, Jonas Buchli, Auke J. Ijspeert

摘要:

振荡器有两个主要的限制:它们的同步特性有限(即它们有一个有限的同步区域),并且它们对过去的相互作用没有记忆(即它们在夹带信号消失时返回到它们的固有频率)。我们之前提出了一种通用机制,将振荡器转换为自适应频率振荡器,该自适应频率振荡器调整其参数以学习任何输入信号的频率。同步区域然后变为无限大,并且当驱动信号消失时,振荡器保持夹带频率。虽然这种机制已被成功地用于各种应用,如机器人控制或主动假肢的观测器设计,其属性的正式理解仍然缺失。在本文中,我们研究的情况下,强耦合相位振荡器的适应机制,并表明,非平凡的慢-快动力学是在起源的适应。我们展示了稳定和不稳定的不变慢流形的分层结构的存在,并演示了输入信号如何迫使动态在这些流形之间以规则的间隔跳跃,从而导致频率自适应的指数收敛。我们的想法扩展到一个网络的振荡器与振幅适应,并表明,缓慢的不变流形结构持续存在。数值模拟验证了我们的分析,并扩展到更复杂的情况下的讨论。

英文摘要:

Oscillators have two main limitations: their synchronization properties are limited (i.e they have a finite synchronization region) and they have no memory of past interactions (i.e. they return to their intrinsic frequency whenever the entraining signal disappears). We previously proposed a general mechanism to transform an oscillator into an adaptive frequency oscillator which adapts its parameters to learn the frequency of any input signal. The synchronization region then becomes infinite and the oscillator retains the entrainment frequency when the driving signal disappears. While this mechanism has been successfully used in various applications, such as robot control or observer design for active prosthesis, a formal understanding of its properties is still missing. In this paper, we study the adaptation mechanism in the case of strongly coupled phase oscillators and show that non-trivial slow-fast dynamics is at the origin of the adaptation. We show the existence of a layered structure of stable and unstable invariant slow manifolds and demonstrate how the input signal forces the dynamics to jump between these manifolds at regular intervals, leading to exponential convergence of the frequency adaptation. We extend the idea to a network of oscillators with amplitude adaptation and show that the slow invariant manifolds structure persists. Numerical simulations validate our analysis and extend the discussion to more complex cases.

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