The unscented Utkin observer

  • Authors:

  • Martin Ongkosutjahjo;Victor M. Becerra

  • Affiliations:

  • University of Reading, Reading, UK;University of Reading, Reading, UK

  • Venue:
  • MIC '08 Proceedings of the 27th IASTED International Conference on Modelling, Identification and Control
  • Year:
  • 2008

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Abstract

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.