0
research-article

Conjugate Unscented Transformation: Applications to Estimation and Control

[+] Author and Article Information
Nagavenkat Adurthi

Graduate Student, ASME member, Department of Mechanical and Aerospace Engineering, University at Buffalo, Buffalo, NY 14260-4400
nagavenk@buffalo.edu

Puneet Singla

Associate Professor, ASME member
psingla@buffalo.edu

Tarunraj Singh

Professor, ASME Fellow, Department of Mechanical and Aerospace Engineering, University at Buffalo, The State University of New York, Buffalo, NY 14260-4400
tsingh@buffalo.edu

1Corresponding author.

ASME doi:10.1115/1.4037783 History: Received February 15, 2017; Revised June 26, 2017

Abstract

This paper presents a computationally efficient approach to evaluate multidimensional expectation integrals. Specifically, certain non-product cubature points are constructed that exploit the symmetric structure of the Gaussian and uniform density functions. The proposed cubature points can be used as an efficient alternative to the Gauss-Hermite and Gauss-Legendre quadrature rules, but with significantly fewer number of points while maintaining the same order of accuracy when integrating polynomial functions in a multi-dimension space. The advantage of the newly developed points is made evident through few benchmark problems in nonlinear filtering and uncertainty propagation applications.

Copyright (c) 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In