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Parameter Identification Near Periodic Orbits of Hybrid Dynamical Systems
University of California at Berkeley, USA.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
University of California at Berkeley, USA.
2012 (English)In: Proceedings of the 16th IFAC Symposium on System Identification, 2012, 1197-1202 p.Conference paper, Published paper (Refereed)
Abstract [en]

We present a novel identification framework that enables the use of first-order methods when estimating model parameters near a periodic orbit of a hybrid dynamical system. The proposed method reduces the space of initial conditions to a smooth manifold that contains the hybrid dynamics near the periodic orbit while maintaining the parametric dependence of the original hybrid model. First-order methods apply on this subsystem to minimize average prediction error, thus identifying parameters for the original hybrid system. We implement the technique and provide simulation results for a hybrid model relevant to terrestrial locomotion.

Place, publisher, year, edition, pages
2012. 1197-1202 p.
Keyword [en]
Hybrid system identification, Parameter identification
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-88928DOI: 10.3182/20120711-3-BE-2027.00396ISBN: 978-3-902823-06-9 (print)OAI: oai:DiVA.org:liu-88928DiVA: diva2:606306
Conference
16th IFAC Symposium on System Identification, Brussels, Belgium, 11-13 July, 2012
Projects
CadicsMOVIIILEARN
Funder
EU, European Research Council, 267381Linnaeus research environment CADICS
Available from: 2013-02-18 Created: 2013-02-18 Last updated: 2013-07-10

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Ohlsson, Henrik

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf