System Identification of Legged Locomotion via Harmonic Transfer Functions and Piecewise LTI Approximation

Uyanık, İsmail
Ankaralı, Mustafa Mert
Cowan, Noah
Morgül, Ömer
Saranlı, Uluç


System Identification of Rhythmic Hybrid Dynamical Systems via Discrete Time Harmonic Transfer Functions
Ankaralı, Mustafa Mert (2014-12-17)
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-ou...
System identification with the extended kalman filter and stochastic approximation methods and their applications to adaptive control.
Akman, Gürol; Department of Electrical Engineering (1981)
System identification with generalized orthonormal basis functions: an application to flexible structures
Nalbantoglu, V; Bokor, J; Balas, G; Gaspar, P (Elsevier BV, 2003-03-01)
This paper presents an application of a multi-input/multi-output identification technique based on system-generated orthonormal basis functions to a flexible structure. A priori information about the poles of the system, part of which corresponds to the natural frequencies of the structure, is used to generate the orthonormal basis functions. A multivariable model is identified for the experimental flexible structure by using these orthonormal basis functions. It is shown that including a priori knowledge o...
System Identification of A Composite Sandwich Plate For Active Vibration Control Applications
Aksoy, Yunus Tansu; Şahin, Melin (null; 2015-09-12)
System design and control framework for an autonomous mobile robot application on predefined ferromagnetic surfaces
Fettahlioglu, M; Ersak, Aydın (2000-01-01)
Maintenance tasks of ferromagnetic. surfaces present a suitable field for robotic applications. A system and controller software design satisfying the system requirements of an autonomous robotic system moving on a ferromagnetic surface accomplishing several tasks such as crack detection, welding, painting and emergency recovery actions is presented. The controller software developed here is a hierarchical control system based on the RCS Reference Model Architecture. The software shell and selected develope...
Citation Formats
İ. Uyanık, M. M. Ankaralı, N. Cowan, Ö. Morgül, and U. Saranlı, “System Identification of Legged Locomotion via Harmonic Transfer Functions and Piecewise LTI Approximation,” 2014, Accessed: 00, 2021. [Online]. Available: