Simultaneous optimal parameter and mode transition time estimation

Lauren M. Miller*, Todd David Murphey

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations


This paper presents a method of simultaneous mode transition time and parameter estimation for hybrid systems based on switching time optimization techniques. A concise derivation of first- and second-order optimality conditions with respect to both mode transition times and parameter values is presented, including cross-derivative terms between the switching times and the parameters. The estimation algorithm is shown to be effective for estimating transition times as well as unknown parameter values from coarsely sampled data for a skid-steered vehicle, which traverses unknown or changing terrain and transitions between discrete dynamic modes. It is shown that second-order optimization methods using the exact Hessian provide far superior convergence, compared to first-or approximate second-order methods, to correct values in simulated and experimental scenarios.

Original languageEnglish (US)
Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Number of pages6
StatePublished - Dec 1 2012
Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
Duration: Oct 7 2012Oct 12 2012


Other25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
CityVilamoura, Algarve

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications


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