2025/04/11 by Siddharth Abhijit Dinkar, Ram Padmanabhan, Dinkar, Siddharth A. +7
Engineering · #Extremum Seeking Control Systems #FOS: Electrical engineering #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2504.08579
openalex publication_date 2025/04/11 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
In this paper, we present an analysis of the Unscented Transform Controller (UTC), a technique to control nonlinear systems motivated as a dual to the Unscented Kalman Filter (UKF). We consider linear, discrete-time systems augmented by a bounded nonlinear function of the state. For such systems, we review 1-step and N-step versions of the UTC. Using a Lyapunov-based analysis, we prove that the states and inputs converge to a bounded ball around the origin, whose radius depends on the bound on the nonlinearity. Using examples of a fighter jet model and a quadcopter, we demonstrate that the UTC achieves satisfactory regulation and tracking performance on these nonlinear models.