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The unscented Utkin observer

Ongkosutjahjo, M. and Becerra, V.M. (2008) The unscented Utkin observer. In: 27th IASTED International Conference on Modelling, Identification and Control , Innsbruk, Austria.

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This 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.

Item Type:Conference or Workshop Item (Paper)
ID Code:14819
Uncontrolled Keywords:Kalman filters, nonlinear systems, sliding mode observers, unscented transformation
Publisher:ACTA Press

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