Simultaneous optimal estimation of mode transition times and parameters applied to simple traction models

Lauren M. Miller, Todd David Murphey

Research output: Contribution to journalArticle

4 Scopus citations

Abstract

An optimization-based estimation method is presented to determine mode transition times and model parameters for hybrid systems. First- and second-order optimality conditions are derived, including crossderivative 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.

Original languageEnglish (US)
Article number6575178
Pages (from-to)1496-1503
Number of pages8
JournalIEEE Transactions on Robotics
Volume29
Issue number6
DOIs
StatePublished - Jan 1 2013

Keywords

  • Calibration and identification
  • Second-order optimization
  • Switched systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

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