2 papers
cs.RO2024
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems
J. Joe Payne, James Zhu, Nathan J. Kong +1
In this paper we present Hybrid iterative Linear Quadratic Estimation (HiLQE), an optimization based offline state estimation algorithm for hybrid dynamical systems. We utilize the…
cs.RO2024
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems
Nathan J. Kong, J. Joe Payne, James Zhu +1
Hybrid dynamical systems, i.e. systems that have both continuous and discrete states, are ubiquitous in engineering, but are difficult to work with due to their discontinuous trans…