Derivative-Free Nonlinear Kalman Filtering for MIMO Dynamical Systems : Appl cation 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 Jacobian matrices. To deduce if a dynamical system is… (More)

14 Figures and Tables


  • Presentations referencing similar topics