Hybrid Estimation through Synergic Mode-Set Focusing

Tracking the evolution of hybrid systems from partial observations means tracking the continuously-valued state evolution and the interleaved discrete mode changes. Existing estimation schemes suffer from the exponential blow up of the number of hypotheses to be tracked and fall into suboptimal methods. On the other hand, hybrid parity-based mode estimation ignores the continuous state. This paper proposes a novel scheme that uses this latter as a mode focusing procedure and then applies hybrid estimation on the resulting reduced number of hypotheses. The advantages of the mixed method are on both sides: it boosts the mode identification time and the convergence of continuous state estimation.