Simultaneous Optimal Estimation of Mode Transition Times and Parameters Applied to Simple Traction Models

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.