You can now do this in most "modern" browsers!

you can do this to your success action :

window.history.pushState("object or string", "Title", "/new-url");

Additional Note:

1. The first parameter is the data we'll need if the state of the web page changes, for instance whenever someone presses the back or forwards button in their browser. Note that in Firefox this data is limited to 640k characters.
2. title is the second parameter which can be a string, but at the time of writing, every browser simply ignores it.
3. This final parameter is the URL we want to appear in the address bar.

You can achieve via AJAX also,

$(".urut").change(function() {
  $.ajax({
    url: "<?php echo base_url(); ?>categories/brand/<?= $link_brand; ?>?l=<?= $l; ?>&h=<?= $h; ?>&city=<?= $city; ?>&city_name=<?= $city_name; ?>&ket=view",
    type: "POST",
    data: "urut=" + $(".urut").val(),
    success: function(data) {
      $("#result").html(data);
    }
  })
})

Do comment, and let me know if you face any issue.