Description:
This new control algorithm, based on an Unscented Transform and model prediction, needs to be tested in various applications. It is interesting to try using it to control simple systems (but with non trivial dynamics), which can be analytically linearized. Then, the UTC performance can be compared to performance of other methods, in particular optimal control. UTC robustness should also be investigated: sensitivity to model uncertainty and measurement noise, as well operation with only partial state feedback. This project can be continued to master's research, with major focus on formulating and proving conditions for the global/local stability of UTC.
