System Identification of Rhythmic Hybrid Dynamical Systems via Discrete Time Harmonic Transfer Functions

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2014-12-17

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Ankaralı, Mustafa Mert

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Few tools exist for identifying the dynamics of rhythmic systems from input-output data. This paper investigates the system identification of stable, rhythmic hybrid dynamical systems, i. e. systems possessing a stable limit cycle but that can be perturbed away from the limit cycle by a set of external inputs, and measured at a set of system outputs. By choosing a set of Poincare sections, we show that such a system can be (locally) approximated as a linear discrete-time periodic system. To perform input-output system identification, we transform the system into the frequency domain using discrete-time harmonic transfer functions. Using this formulation, we present a set of stimuli and analysis techniques to recover the components of the HTFs nonparametrically. We demonstrate the framework using a hybrid spring-mass hopper. Finally, we fit a parametric approximation to the fundamental harmonic transfer function and show that the poles coincide with the eigenvalues of the Poincare return map.

Subject Keywords

Legged Locomotion

URI

https://hdl.handle.net/11511/48057

DOI

https://doi.org/10.1109/cdc.2014.7039515

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Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

M. M. Ankaralı, “System Identification of Rhythmic Hybrid Dynamical Systems via Discrete Time Harmonic Transfer Functions,” 2014, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/48057.