TY - GEN
T1 - Simultaneous optimal parameter and mode transition time estimation
AU - Miller, Lauren M.
AU - Murphey, Todd D.
PY - 2012
Y1 - 2012
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84872353211&partnerID=8YFLogxK
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U2 - 10.1109/IROS.2012.6385707
DO - 10.1109/IROS.2012.6385707
M3 - Conference contribution
AN - SCOPUS:84872353211
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 719
EP - 724
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -