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Unscented control for uncertain dynamical systems

Unscented optimal control combines the unscented transform with optimal control to produce a new approach to directly manage navigational and other uncertainties in an open-loop framework. The sigma points of the unscented transform are treated as controllable particles that are all driven by the same open-loop controller. A system-of-systems dynamical model is constructed where each system is a copy of the other. Pseudo-spectral optimal control techniques may be applied to this system-of-systems to produce a computationally viable approach for solving the large-scale optimal control problem.

Isaac Michael Ross, Mark Karpenko, Ronald J. Proulx

Patent Number: 
Patent Issue Date: 
September 8, 2017
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