Derivative-free nonlinear Kalman Filtering for MIMO dynamical systems: Application to multi-DOF robotic manipulators regular paper

International Journal of Advanced Robotic Systems

Volumn 8, Issue 6, 2011, Pages 47-61

  Rigatos, Gerasimos G ^a,b  

^a HARPER ADAMS UNIVERSITY   (United Kingdom)

^b INDUSTRIAL SYSTEMS INSTITUTE   (Greece)

Author keywords

Derivative free nonlinear filtering; Differentially flat nonlinear systems; Kalman Filtering; MIMO dynamical systems; Observer canonical form

Indexed keywords

BRUNOVSKY; CANONICAL FORM; CONTROL INPUTS; DERIVATIVE-FREE; DIFFERENTIAL FLATNESS; FLAT OUTPUT; KALMAN-FILTERING; MULTI-DOF; MULTI-INPUT MULTI-OUTPUT DYNAMICAL SYSTEMS; NONLINEAR KALMAN FILTERING; OBSERVER CANONICAL FORM; RECURSIONS; ROBOTIC MANIPULATORS; SIMULATION EXPERIMENTS; STANDARD KALMAN FILTERS; STATE VARIABLES; DERIVATIVE-FREE NONLINEAR FILTERING; DIFFERENTIALLY FLAT NONLINEAR SYSTEMS; MIMO DYNAMICAL SYSTEMS;

BENCHMARKING; FLEXIBLE MANIPULATORS; JACOBIAN MATRICES; KALMAN FILTERS; MIMO SYSTEMS; NONLINEAR DYNAMICAL SYSTEMS; NONLINEAR FILTERING; ROBOT APPLICATIONS; ROBOTICS; ROBOTS; SYSTEM THEORY; DYNAMICAL SYSTEMS; MANIPULATORS; MATHEMATICAL TRANSFORMATIONS; NONLINEAR SYSTEMS;

DYNAMICAL SYSTEMS; ROBOTICS;

EID: 84855810044     PISSN: 17298806     EISSN: 17298814     Source Type: Journal    
DOI: None     Document Type: Article

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