Derivative-free Nonlinear Kalman Filtering for MIMO Dynamical Systems: Applications to Multi-DOF Robotic Manipulators

Abstract

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 Jacobian matrices. To deduce if a dynamical system is differentially flat, the following should be examined: (i) the existence of the flat output, which is a variable that can be written as a function of the system

Keywords

• Derivative-free nonlinear filtering
• Kalman Filtering
• differentially flat nonlinear systems
• MIMO dynamical systems
• observer canonical form