ABSTRACT
In a previous study, Araki & Okada (2005) firstly perform parameter identification of anAcrobot system using the UKF, and an energy based control approach is proposed in a second, separate step. Bisgaard et al. (2010) have also employed a UKF filter for estimating the slung load states of a helicopter system. Marafioti (2010) explores the efficacy of the UKF and EKF within the context of Model Predictive Control (MPC) where simulation-based results prove the advantages of using the UKF as an alternative to the EKF. Rigatos (2011) demonstrates the use of Particle Filter and other nonlinear state estimation algorithms for industrial control applications using a reduced number of sensors. Aiming to achieve optimal control Wang (2011) combines nonlinear estimators with fuzzy control of nonlinear systems with general performance criteria.
