1. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Unscented transformation points in 2D: (a) points with corresponding weights and (b) effect of κ on weight

2. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Symmetric set of points and axes 2D and 3D space: (a) 2D axes, (b) 3D first quadrant view 1, and (c) 3D first quadrant view 2

3. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Comparison of number of points for Gaussian PDF: (a) fifth-order, (b) seventh-order, and (c) ninth-order

4. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Comparison of number of points for uniform PDF: (a) fifth-order, (b) seventh-order, (c) seventh-order (CUT versus Sparse GLgn4), and (d) ninth-order

5. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Simulation results for polar to Cartesian transformation: (a) μr=1 m, μθ=90 deg, σr2=0.022 m2, σθ2=152 deg2 and (b) μr=50 m, μθ=0 deg, σr2=0.022 m2, σθ2=302 deg2

6. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Nonpolynomial function-uniform PDF: % relative error: (a) Gauss–Legendre, (b) sparse grid Gauss–Legendre, and (c) 10% relative error GLgn versus CUT-U

7. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Air traffic scenario: (a) typical aeroplane trajectory and (b) estimated aeroplane trajectory

8. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Iterative block schematic of the filtering algorithm

9. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
State estimation error versus the measurement time interval, T for the air traffic problem: (a) position (all filters), (b) velocity (all filters), (c) angular rate (all filters), (d) position (PF, CUT4, CUT6, CUT8), (e) velocity (PF, CUT4, CUT6, CUT8), and (f) angular rate (PF, CUT4, CUT6, CUT8)

10. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Lorenz system

11. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Comparison of filters for Lorenz model with varying measurement time intervals T: (a) 2-norm of RMSE and (b) max of RMSE

12. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Example 2: three mass system: uncertain spring and damping constants

13. Date of download: 12/17/2017
Copyright © ASME. All rights reserved.
From: Conjugate Unscented Transformation: Applications to Estimation and Control
J. Dyn. Sys., Meas., Control. 2017;140(3): doi: /
Figure Legend:
Distribution of cost function J under parametric uncertainty: (a) up to second moment) cost, (b) up to fourth moment) cost, (c) up to sixth moment) cost, and (d) min–max control cost