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Identification of Nonlinear Feedback Mechanisms Operating in Closed Loop using Inertial Sensors
Department of Information Technology, Uppsala University, Sweden.
Department of Information Technology, Uppsala University, Sweden; Department of Mecatronics, Tecnológico de Monterrey, Mexico.
Department of Information Technology, Uppsala University, Sweden.
University of Gävle, Faculty of Engineering and Sustainable Development, Department of Electronics, Mathematics and Natural Sciences, Electronics.
2018 (English)In: IFAC-PapersOnLine, E-ISSN 2405-8963, Vol. 51, no 15, p. 473-478Article in journal (Refereed) Published
Abstract [en]

In this paper we study the problem of identifying linear and nonlinear feedback mechanisms, or controllers, operating in closed loop. A recently developed identification method for nonlinear systems, the LAVA method, is used for this purpose. Identification data is obtained from inertial sensors, that provide information about the movement of the system, in the form of linear acceleration and angular velocity measurements. This information is different from the information that is available to the controller to be identified, which makes use of unknown internal sensors instead. We provide two examples, a simulated neuromuscular controller in standing human balance, and a lead-filter controlling a physical position servo using a DC motor. Both linear and nonlinear controllers are used in the examples. We show that the LAVA method is able to identify sparse, parsimonious models of the controllers.

Place, publisher, year, edition, pages
Elsevier B.V. , 2018. Vol. 51, no 15, p. 473-478
Keywords [en]
Closed-loop identification, Inertial sensors, Nonlinear control, Controllers, DC motors, Feedback control, Inertial navigation systems, Closed loop identification, Feedback mechanisms, Identification method, Inertial sensor, Linear accelerations, Non linear control, Non-linear controllers, Parsimonious models, Nonlinear feedback
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:hig:diva-28645DOI: 10.1016/j.ifacol.2018.09.190ISI: 000446599200081Scopus ID: 2-s2.0-85054349996OAI: oai:DiVA.org:hig-28645DiVA, id: diva2:1265746
Conference
18th IFAC Symposium on System Identification (SYSID), 9-11 July 2018, Stockholm, Sweden
Projects
Mobile assessment of human balance
Funder
Swedish Research Council, 2015-05054Available from: 2018-11-26 Created: 2018-11-26 Last updated: 2018-12-10Bibliographically approved

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Mattsson, Per

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CiteExportLink to record
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  • apa
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  • sv-SE
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Output format
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