Reverse-engineering invariant manifolds with asymptotic phase

TL;DR

This paper introduces a method to construct and control invariant manifolds with asymptotic phase, facilitating the use of low-dimensional biological templates in robotic dynamics.

Contribution

It provides a universal recipe for rendering submanifolds normally hyperbolic with customizable asymptotic phase maps, applicable to diverse model reduction techniques.

Findings

Method enables robust invariant manifold construction.

Applicable to a wide range of normally hyperbolic systems.

Facilitates biologically inspired robotic control strategies.

Abstract

We present a recipe for rendering a submanifold normally hyperbolic and invariant within a stability basin. The construction includes the ability to choose the asymptotic phase map. We are motivated by the notion of "templates and anchors" -- the biomechanical observation that animal motions are often governed by low dimensional dynamics -- and the growing applications in robotics which desire means for making such biologically derived templates govern the dynamics of robots. Our approach is fairly universal, in the sense that a broad range of model reduction constructions must be normally hyperbolic if they are robust, and a broad range of such normally hyperbolic systems can be produces from our construction.