Kalman Filter and Variants for Estimation in 2DOF Serial Flexible Link and Joint Using Fractional Order PID Controller

Robotic manipulators have been widely used in industries, mainly to move tools into different specific positions. Thus, it has become necessary accurate knowledge about the tool position using forward kinematics after accessing angular locations of limbs. This paper presents a simulation study which an encoder attached limbs gathers information The measured angles are applied Kalman Filter (KF) and its variants for state estimation. work focuses on use fractional order controllers with Two Degree Freedom Serial Flexible Links (2DSFL) Joint (2DSFJ) undertakes simulations noise square wave as input. fit better system properties than integer controllers. KF unknown assumed process measurement matrices predict actual data. An optimisation problem is proposed achieve reasonable estimations updated covariance matrices.