Moving Horizon Estimation of Hybrid Systems Using Hybrid Zonotopes and Mixed-Integer Quadratic Programs
The paper addresses the computational difficulty of Moving Horizon Estimation (MHE) for hybrid systems, which typically results in NP-hard mixed-integer programs. It proposes using hybrid zonotopes to efficiently represent the feasible space for MHE problems on Piecewise Affine (PWA) systems, avoiding conversion to complex mixed logical dynamical system descriptions.