Autonomous Navigation System Using a Fuzzy Adaptive Nonlinear H∞ Filter
AbstractAlthough nonlinear H∞ (NH∞) filters offer good performance without requiring assumptions concerning the characteristics of process and/or measurement noises, they still require additional tuning parameters that remain fixed and that need to be determined through trial and error. To address issues associated with NH∞ filters, a new SINS/GPS sensor fusion scheme known as the Fuzzy Adaptive Nonlinear H∞ (FANH∞) filter is proposed for the Unmanned Aerial Vehicle (UAV) localization problem. Based on a real-time Fuzzy Inference System (FIS), the FANH∞ filter continually adjusts the higher order of the Taylor development thorough adaptive bounds and adaptive disturbance attenuation , which significantly increases the UAV localization performance. The results obtained using the FANH∞ navigation filter are compared to the NH∞ navigation filter results and are validated using a 3D UAV flight scenario. The comparison proves the efficiency and robustness of the UAV localization process using the FANH∞ filter. View Full-Text
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Outamazirt, F.; Li, F.; Yan, L.; Nemra, A. Autonomous Navigation System Using a Fuzzy Adaptive Nonlinear H∞ Filter. Sensors 2014, 14, 17600-17620.
Outamazirt F, Li F, Yan L, Nemra A. Autonomous Navigation System Using a Fuzzy Adaptive Nonlinear H∞ Filter. Sensors. 2014; 14(9):17600-17620.Chicago/Turabian Style
Outamazirt, Fariz; Li, Fu; Yan, Lin; Nemra, Abdelkrim. 2014. "Autonomous Navigation System Using a Fuzzy Adaptive Nonlinear H∞ Filter." Sensors 14, no. 9: 17600-17620.