Synchronization of first-order autonomous oscillators on Riemannian manifolds
The authors tackle the problem of synchronizing two first-order autonomous oscillators (master and slave) described by the dynamical systems $\dot z^{\text{\texttt{m}}}(t)=f(z^{\text{\texttt{m}}}(t))$ and $\dot z^{\text{\texttt{s}}}(t)=f(z^{\text{\texttt{s}}}(t))+u(t)$ on Riemannian manifolds. They use a control-theoretic approach. Here $f:$ $\mathbb{R}^n\to\mathbb{R}^n$ denotes the same state-transition operator, the initial states $z^{\text{\texttt{m}}}(0)$ and $z^{\text{\texttt{s}}}(0)$ are assumed to be different and the signal $u\in\mathbb{R}^n$ denotes the input from the controller that makes the slave oscillator sync asymptotically with the master oscillator. \par The control law is derived by defining a Lyapunov function for the master/controller/slave closed loop, which is designed to be compatible with the structure of the state-manifold. \par The synchronizing control strategy obtained in this way can be applied to any first-order oscillator on any geodesically complete path-connected Riemannian manifold and it is illustrated by the numerical examples tailored to the unit hypersphere, also in the presence of exponentiated-additive state disturbances.
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