Analysis of the Unscented Transform Controller for Systems with Bounded Nonlinearities
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arXiv
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| Autores principales: | , , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Acceso en línea: | |
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| _version_ | 1866908314014580736 |
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| author | Dinkar, Siddharth A. Padmanabhan, Ram Clarke, Anna Gutman, Per-Olof Ornik, Melkior |
| author_facet | Dinkar, Siddharth A. Padmanabhan, Ram Clarke, Anna Gutman, Per-Olof Ornik, Melkior |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_08579 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Analysis of the Unscented Transform Controller for Systems with Bounded Nonlinearities Dinkar, Siddharth A. Padmanabhan, Ram Clarke, Anna Gutman, Per-Olof Ornik, Melkior Systems and Control 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. |
| title | Analysis of the Unscented Transform Controller for Systems with Bounded Nonlinearities |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2504.08579 |