0377943 20240111140817.820120717235959.9 000310776205016 10.1109/ACC.2012.6315366 6 s. C cav_un_epca*0377942978-1-4577-1094-04789-4794Montréal, QuébecIEEE2012 nonlinear systems dynamic systems walking robots cav_un_auth*0279330 Dolinský Kamil Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Čelikovský Sergej Teorie řízení Department of Control Theory TŘ TR UTIA-B Department of Control Theory Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument 481 kB GAP103/12/1794 GA ČR CZ cav_un_auth*0283207 LG12015 GA MŠk CZ cav_un_auth*0281704 This article deals with state estimation and filtering in nonlinear systems. More precisely the design of approximate nonlinear Kalman filter for nonlinear systems linearizable by a nonlinear coordinate transformation with possible application of nonlinear output injection is studied. The main idea is to reduce the errors introduced by the linearization used by the approximate filter using exact full or partial linearization of the system. Underlying transformations of both deterministic and stochastic signals are studied. An example of designing such an approximate nonlinear filter for nonlinear tracking of walking like motion of bipedal robot is given. cav_un_auth*0282016 The 2012 American Control Conference (ACC) Montréal 27.06.2012-29.06.2012 CA 2013 BC 2 PR RVO:67985556 http://hdl.handle.net/11104/0209953 2012 000310776205016 WOS textový dokument 481 kB cav_un_epca*0377942 Proceedings of the 2012 American Control Conference 978-1-4577-1094-0 4789 4794 Montréal, Québec IEEE 2012 IEEE Catalog #:CFP12ACC-CDR