{"title":"无味的指导","authors":"I. Michael Ross, R. Proulx, M. Karpenko","doi":"10.1109/ACC.2015.7172217","DOIUrl":null,"url":null,"abstract":"Unscented guidance combines the concept of the unscented transform with standard optimal control theory to produce an open-loop method to manage uncertainties in nonlinear dynamical systems. The theoretical foundations for this concept can be framed in terms of a low-order semi-discretization of a Lebesgue-Stieltjes optimal control problem. A Zermelo problem subject to parameter uncertainties is used to quantitatively demonstrate the substantial reductions in target error statistics (95% in mean and 70% in the trace of the covariance) through the use of unscented guidance. These ideas generate a tractable approach for solving chance-constrained optimal control problems.","PeriodicalId":223665,"journal":{"name":"2015 American Control Conference (ACC)","volume":"46 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"10","resultStr":"{\"title\":\"Unscented guidance\",\"authors\":\"I. Michael Ross, R. Proulx, M. Karpenko\",\"doi\":\"10.1109/ACC.2015.7172217\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Unscented guidance combines the concept of the unscented transform with standard optimal control theory to produce an open-loop method to manage uncertainties in nonlinear dynamical systems. The theoretical foundations for this concept can be framed in terms of a low-order semi-discretization of a Lebesgue-Stieltjes optimal control problem. A Zermelo problem subject to parameter uncertainties is used to quantitatively demonstrate the substantial reductions in target error statistics (95% in mean and 70% in the trace of the covariance) through the use of unscented guidance. These ideas generate a tractable approach for solving chance-constrained optimal control problems.\",\"PeriodicalId\":223665,\"journal\":{\"name\":\"2015 American Control Conference (ACC)\",\"volume\":\"46 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-07-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"10\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 American Control Conference (ACC)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ACC.2015.7172217\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 American Control Conference (ACC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ACC.2015.7172217","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Unscented guidance combines the concept of the unscented transform with standard optimal control theory to produce an open-loop method to manage uncertainties in nonlinear dynamical systems. The theoretical foundations for this concept can be framed in terms of a low-order semi-discretization of a Lebesgue-Stieltjes optimal control problem. A Zermelo problem subject to parameter uncertainties is used to quantitatively demonstrate the substantial reductions in target error statistics (95% in mean and 70% in the trace of the covariance) through the use of unscented guidance. These ideas generate a tractable approach for solving chance-constrained optimal control problems.