Independent estimation of input and measurement delays for a hybrid vertical spring-mass-damper via harmonic transfer functions

Date

2015-06-30

Author

Uyanık, Ismail
Ankaralı, Mustafa Mert
Cowan, Noah J.
Saranlı, Uluç
Morgül, Ömer
Özbay, Hitay

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System identification of rhythmic locomotor systems is challenging due to the time-varying nature of their dynamics. Even though important aspects of these systems can be captured via explicit mechanics-based models, it is unclear how accurate such models can be while still being analytically tractable. An alternative approach for rhythmic locomotor systems is the use of data-driven system identification in the frequency domain via harmonic transfer functions (HTFs). To this end, the input-output dynamics of a locomotor behavior can be linearized around a stable limit cycle, yielding a linear, time-periodic system. However, few if any modelbased or data-driven identification methods for time-periodic systems address the problem of input and measurement delays in the system. In this paper, we focus on data-driven system identification for a simple mechanical system and analyze its dynamics in the presence of input and measurement delays using HTFs. By exploiting the way input delays are modulated by the periodic dynamics, our results enable the separate, independent estimation of input and measurement delays, which would be indistinguishable were the system linear and time invariant.

Subject Keywords

Time-delay estimation, Time-periodic systems, System identification, Harmonic transfer function, Legged locomotion

URI

https://hdl.handle.net/11511/43228

DOI

https://doi.org/10.1016/j.ifacol.2015.09.394

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

I. Uyanık, M. M. Ankaralı, N. J. Cowan, U. Saranlı, Ö. Morgül, and H. Özbay, “Independent estimation of input and measurement delays for a hybrid vertical spring-mass-damper via harmonic transfer functions,” 2015, vol. 28, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/43228.