Journal
AUTOMATICA
Volume 115, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2020.108871
Keywords
State estimation; Hybrid systems; Nonlinear systems; Mechanical systems; Optimization
Funding
- Washington Research Foundation, United States of America Data Science Professorship
- U.S. Army Research Laboratory [W911NF-16-1-0158]
- U.S. Army Research Office [W911NF-16-1-0158]
- National Science Foundation Cyber-Physical Systems program [1565529]
- Division Of Computer and Network Systems
- Direct For Computer & Info Scie & Enginr [1565529] Funding Source: National Science Foundation
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We propose an offline algorithm that simultaneously estimates discrete and continuous components of a hybrid system's state. We formulate state estimation as a continuous optimization problem by relaxing the discrete component and using a robust loss function to accommodate large changes in the continuous component during switching events. Subsequently, we develop a novel nonsmooth variable projection algorithm with Gauss-Newton updates to solve the state estimation problem and prove the algorithm's global convergence to stationary points. We demonstrate the effectiveness of our approach by comparing it to a state-of-the-art filter bank method, and by applying it to simple piecewise-linear and -nonlinear mechanical systems undergoing intermittent impact. (C) 2020 Elsevier Ltd. All rights reserved.
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