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

Autor:	Clarke, Anna, Gutman, Per Olof
Rok vydání:	2022
Předmět:	Electrical Engineering and Systems Science - Systems and Control 93C10 93C35 93E99
Druh dokumentu:	Working Paper
Popis:	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. Comment: 6 pages, 5 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2207.10496 Zobrazit plný text záznamu View this record from Arxiv