Derivative-Free Nonlinear Kalman Filtering for MIMO Dynamical Systems: Application to Multi-DOF Robotic Manipulators
The paper proposes derivative-free nonlinear Kalman Filtering for MIMO nonlinear dynamical systems. The considered nonlinear filtering scheme which is based on differential flatness theory extends the class of systems to which Kalman Filtering can be applied without the need for calculation of Jacob...
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2011-12-01
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| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/10679 |