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.
|Title of host publication||27th IASTED International Conference on Modelling, Identification and Control|
|Publication status||Published - 2008|
- Kalman filters, nonlinear systems, sliding mode observers, unscented transformation