Independent estimation of input and measurement delays for a hybrid vertical spring-mass-damper via harmonic transfer functions
Author
Uyanık, İsmail
Ankaralı, M. M.
Cowan, N. J.
Saranlı, U.
Morgül, Ömer
Özbay, Hitay
Date
2015-06Source Title
IFAC Proceedings Volumes (IFAC-PapersOnline)
Print ISSN
1474-6670
Publisher
IFAC
Pages
298 - 303
Language
English
Type
Conference PaperItem Usage Stats
129
views
views
101
downloads
downloads
Abstract
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 model-based 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. © 2015, IFAG.
Keywords
Harmonic transfer functionsLegged locomotion
System identification
Time-delay estimation
Time-periodic systems
Delay control systems
Dynamics
Frequency domain analysis
Harmonic analysis
Harmonic functions
Identification (control systems)
Musculoskeletal system
Religious buildings
Time delay
Identification method
Input-output dynamics
Linear and time invariants
Locomotor behavior
Time delay estimation
Time-periodic system
Transfer functions
Permalink
http://hdl.handle.net/11693/27863Published Version (Please cite this version)
http://dx.doi.org/10.1016/j.ifacol.2015.09.394Collections
Related items
Showing items related by title, author, creator and subject.
-
Explicit time-delay compensation in teleoperation: an adaptive control approach
Abidi K.; Yildiz, Y.; Korpe, B. E. (John Wiley and Sons Ltd, 2016)This paper proposes a control framework that addresses the destabilizing effect of communication time delays and system uncertainties in telerobotics, in the presence of force feedback. Force feedback is necessary to obtain ... -
Stability windows and unstable root-loci for linear fractional time-delay systems
Fioravanti, A.R.; Bonnet, C.; Özbay, Hitay; Niculescu, S.-I. (Elsevier, 2011)The main point of this paper is on the formulation of a numerical algorithm to find the location of all unstable poles, and therefore the characterization of the stability as a function of the delay, for a class of linear ... -
A numerical method for stability windows and unstable root-locus calculation for linear fractional time-delay systems
Fioravanti, A.R.; Bonnet, C.; Özbay, Hitay; Niculescu, S. I. (Elsevier, 2012-08-14)This paper aims to provide a numerical algorithm able to locate all unstable poles, and therefore the characterization of the stability as a function of the delay, for a class of linear fractional-order neutral systems ...