Hybrid extended Kalman filter long short-term memory framework for robust state and fault estimation in mobile robots under unknown disturbances

• Date: 2026
• Main Authors: Khemiri, K., Djebali, R.
• Format: Article
• Language: English
• Published: National Technical University "Kharkiv Polytechnic Institute" and Аnatolii Pidhornyi Institute of Power Machines and Systems of NAS of Ukraine 2026
• Subjects: mobile robotics; fault-tolerant localization; extended Kalman filter; long short-term memory; hybrid estimation; unknown disturbances
• Online Access: https://eie.khpi.edu.ua/article/view/341612
• Journal Title: Electrical Engineering & Electromechanics

Introduction. Reliable and accurate state estimation plays a central role in mobile robotics, ensuring effective localization, navigation, and control in uncertain and dynamic environments. Traditional estimation methods such as the extended Kalman filter (EKF) and the unscented Kalman filter (UKF)...