The unscented Utkin observerOngkosutjahjo, M. and Becerra, V.M. (2008) The unscented Utkin observer. In: 27th IASTED International Conference on Modelling, Identification and Control , Innsbruk, Austria. Full text not archived in this repository. It is advisable to refer to the publisher's version if you intend to cite from this work. See Guidance on citing. Abstract/SummaryThis paper describes the integration of an Utkin observer with the unscented Kalman filter, investigates the performance of the combined observer, termed the unscented Utkin observer, and compares it with an unscented Kalman filter. Simulation tests are performed using a model of a two link manipulator. The results indicate that the unscented Utkin observer outperforms the unscented Kalman filter.
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