Nonlinear Kalman Filtering Based on Differential Flatness Theory

  • Gerasimos G. RigatosEmail author
Part of the Studies in Systems, Decision and Control book series (SSDC, volume 25)


This chapter analyzes a new filtering method for nonlinear dynamical systems which is based on differential flatness theory and is known as Derivative-free nonlinear Kalman Filter. First, the filtering method is applied to lumped dynamical systems, that is systems which are described by ordinary differential equations. Moreover, the problem of distributed nonlinear filtering is solved, that is the problem of fusion of the outcome of distributed local filtering procedures (local nonlinear Kalman Filters) into one global estimate that approximates the system’s state vector with improved accuracy.


Kalman Filter Extend Kalman Filter Robotic Manipulator Unscented Kalman Filter Sigma Point 
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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Unit of Industrial AutomationIndustrial Systems InstituteRion PatrasGreece

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