@inproceedings{ae363804abea4f89aff83a394632a689,
title = "Second-order switching time and magnitude optimization for impulsive hybrid systems",
abstract = "This paper presents a method to perform second-order impulsive hybrid system optimization that optimizes a cost functional over mode transition times and impulse magnitudes simultaneously. The derivation of the first-order and second-order derivatives of the cost functional with respect to switching times and impulse magnitudes is presented. An adjoint formulation is utilized to compute the derivatives for a faster convergence at a lower computational cost. An example in robotics illustrates the effectiveness of this optimization technique when measurement noise is present.",
author = "Leong, \{Yoke Peng\} and Todd Murphey",
year = "2013",
language = "English (US)",
isbn = "9781479901777",
series = "Proceedings of the American Control Conference",
pages = "6213--6218",
booktitle = "2013 American Control Conference, ACC 2013",
note = "2013 1st American Control Conference, ACC 2013 ; Conference date: 17-06-2013 Through 19-06-2013",
}