Abstract
In this paper, unscented Kalman filter (UKF) is used for state estimation of nonlinear system. The main advantage of UKF is that it does not need any linearization for calculating the state transition matrix like extended Kalman filter (EKF). This study includes the combination of the nonlinear estimation and the optimal control strategy. Simulation results for a proportional integral derivative and linear quadratic regulator controlled inverted pendulum are presented and compared with the EKF under the measurement and process noise. The results show that the performance of the UKF is better than the EKF in terms of robustness, computation time and speed of convergence.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
