Title :
Simultaneous Optimal Estimation of Mode Transition Times and Parameters Applied to Simple Traction Models
Author :
Miller, Lauren M. ; Murphey, Todd D.
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
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 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.
Keywords :
least squares approximations; optimal control; optimisation; road vehicles; traction; cross-derivative terms; first-order optimality conditions; hybrid systems; mode transition times; model parameters; optimization-based estimation method; second-order optimality conditions; second-order optimization methods; simple traction models; skid-steered vehicle; transition parameters; Calibration; Least squares approximations; Nonlinear dynamical systems; Optimization; Switched systems; Calibration and identification; second-order optimization; switched systems;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2013.2273848
