论文标题
无音转换控制器：高度非线性系统的新模型预测控制法
The Unscented Transform Controller: a new model predictive control law for highly nonlinear systems
论文作者
论文摘要
无浓缩的转换是无知的卡尔曼滤波器UKF的基础，在此使用，为非线性植物开发了一种新型的预测控制器，称为无感兴趣的转换控制器UTC。 UTC可以看作是UKF的双重，与LQG调节器和Kalman过滤器相同的方式相同。在虚拟跳伞运动员的自由下落中对复杂操作的控制，该模型已在风洞和自由秋季实验中进行了验证。
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.
