Published June 2013
| public
Book Section - Chapter
Second-order switching time and magnitude optimization for impulsive hybrid systems
- Creators
- Leong, Yoke Peng
- Murphey, Todd
Chicago
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Abstract
This paper presents a method to perform second-order impulsive hybrid system optimization that optimizes a cost functional over mode transition times and impulse magnitudes simultaneously. The derivation of the first-order and second-order derivatives of the cost functional with respect to switching times and impulse magnitudes is presented. An adjoint formulation is utilized to compute the derivatives for a faster convergence at a lower computational cost. An example in robotics illustrates the effectiveness of this optimization technique when measurement noise is present.
Additional Information
© 2013 AACC. This material is based upon work supported by the National Science Foundation under award IIS-1018167. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the National Science Foundation.Additional details
- Eprint ID
- 43082
- Resolver ID
- CaltechAUTHORS:20131219-092732881
- NSF
- IIS-1018167
- Created
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2013-12-23Created from EPrint's datestamp field
- Updated
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2019-10-03Created from EPrint's last_modified field
- Other Numbering System Name
- INSPEC Accession Number
- Other Numbering System Identifier
- 13794114