Simultaneous Optimal Estimation of Mode Transition Times
نویسندگان
چکیده
An optimization-based estimation method is presented for determining mode transition times and model parameters for hybrid systems. Firstand second-order optimality conditions are derived, including cross-derivative terms between transition times and parameters. Second-order optimization methods are shown to provide superior convergence to correct values in simulation, and to values within expected ranges experimentally for traction estimation of a skid-steered vehicle.
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