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

Volume

29

Issue

6

fYear

2013

fDate

Dec. 2013

Firstpage

1496

Lastpage

1503

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;

fLanguage

English

Journal_Title

Robotics, IEEE Transactions on

Publisher

ieee

ISSN

1552-3098

Type

jour

DOI

10.1109/TRO.2013.2273848

Filename

6575178