OBSERVATION ALGORITHM FOR ESSENTIALLY NONLINEAR MOBILE ROBOTS

This paper is about a new approach of integration of the non-linear observer based on Luenberger, backstepping and disturbance approximation with Unscented Kalman filter for estimate of a state vector of essentially non-linear robots which have a complicated dynamics. Key words: essentially non-linear systems, robots, unscented filter, unscented smoother, observer, estimatio