Integrating the Utkin observer with the unscented Kalman filter

Ongkosutjahjo, M. and Becerra, V.M. (2008) Integrating the Utkin observer with the unscented Kalman filter. In: 17th IFAC World Congress, Seoul, Korea. doi: 10.3182/20080706-5-KR-1001.02121

Abstract/Summary

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 single link robot arm with a revolute elastic joint rotating in a vertical plane. The results indicate that the unscented Utkin observer outperforms the unscented Kalman filter.