The Unscented Transform Controller: a new model predictive control law for highly nonlinear systems

2022/07/21 by Anna Clarke, Clarke, Anna, Per Olof Gutman +1
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Advanced Control Systems Optimization #Target Tracking and Data Fusion in Sensor Networks #cs.SY #eess.SY #msc:93C10 #msc:93C35 #msc:93E99

paper · pdf · doi:10.48550/arxiv.2207.10496

6 pages, 5 figures

arxiv created 2022/07/21 · arxiv updated 2022/07/22

Abstract

The Unscented Transform which is the basis of the Unscented Kalman Filter, UKF, is used here to develop a novel predictive controller for non-linear plants, called the Unscented Transform Controller, UTC. The UTC can be seen as the dual of the UKF, the same way as the LQG regulator and the Kalman Filter are related. The UTC is demonstrated on the control of complex maneuvers in free fall of a virtual skydiver the model of which was verified in wind tunnel and free fall experiments.

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• Analysis of the Unscented Transform Controller for Systems with Bounded Nonlinearities

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