H∞ filter with fuzzy logic estimation to refrain finite escape time
In this paper, a H∞ Filter with Fuzzy Logic (FHF) based on mobile robot localization and mapping is proposed to effectively prevent the Finite Es-cape Time (FET) issue in H∞ Filter (HF). The capabilities of HF to offer better solution than Kalman Filter (KF) is limited by the shortcomings of Finite...
| Main Authors: | , |
|---|---|
| Format: | Book Chapter |
| Language: | English |
| Published: |
Springer
2021
|
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/31468/2/Paper_73_correction.pdf |
| _version_ | 1796994620223127552 |
|---|---|
| author | Bakiss Hiyana, Abu Bakar Hamzah, Ahmad |
| author_facet | Bakiss Hiyana, Abu Bakar Hamzah, Ahmad |
| author_sort | Bakiss Hiyana, Abu Bakar |
| collection | UMP |
| description | In this paper, a H∞ Filter with Fuzzy Logic (FHF) based on mobile robot localization and mapping is proposed to effectively prevent the Finite Es-cape Time (FET) issue in H∞ Filter (HF). The capabilities of HF to offer better solution than Kalman Filter (KF) is limited by the shortcomings of Finite Escape Time. FET define as a state that can go infinite in normal condition that lead to in accurate estimation result, with the present of FET, the estimation cannot be totally guarantee. Therefore, it is essential to guarantee no FET is observed in the state covariance on its update. A new FHF is developed for this matter by using fuzzy logic approach. The analysis is done by implementing the Fuzzy Logic technique with triangular membership. The simulation result show that Fuzzy Logic effectively avoid the FET from appear and simultaneously improve the estimation between mobile robot and the landmark. |
| first_indexed | 2024-03-06T12:50:23Z |
| format | Book Chapter |
| id | UMPir31468 |
| institution | Universiti Malaysia Pahang |
| language | English |
| last_indexed | 2024-03-06T12:50:23Z |
| publishDate | 2021 |
| publisher | Springer |
| record_format | dspace |
| spelling | UMPir314682021-08-11T07:46:49Z http://umpir.ump.edu.my/id/eprint/31468/ H∞ filter with fuzzy logic estimation to refrain finite escape time Bakiss Hiyana, Abu Bakar Hamzah, Ahmad T Technology (General) TK Electrical engineering. Electronics Nuclear engineering In this paper, a H∞ Filter with Fuzzy Logic (FHF) based on mobile robot localization and mapping is proposed to effectively prevent the Finite Es-cape Time (FET) issue in H∞ Filter (HF). The capabilities of HF to offer better solution than Kalman Filter (KF) is limited by the shortcomings of Finite Escape Time. FET define as a state that can go infinite in normal condition that lead to in accurate estimation result, with the present of FET, the estimation cannot be totally guarantee. Therefore, it is essential to guarantee no FET is observed in the state covariance on its update. A new FHF is developed for this matter by using fuzzy logic approach. The analysis is done by implementing the Fuzzy Logic technique with triangular membership. The simulation result show that Fuzzy Logic effectively avoid the FET from appear and simultaneously improve the estimation between mobile robot and the landmark. Springer 2021-08-20 Book Chapter PeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/31468/2/Paper_73_correction.pdf Bakiss Hiyana, Abu Bakar and Hamzah, Ahmad (2021) H∞ filter with fuzzy logic estimation to refrain finite escape time. In: Recent Trends in Mechatronics Towards Industry 4.0. Springer, Singapore, pp. 978-981. ISBN 978-981-33-4597-3 https://doi.org/10.1007/978-981-33-4597-3_28 https://doi.org/10.1007/978-981-33-4597-3_28 |
| spellingShingle | T Technology (General) TK Electrical engineering. Electronics Nuclear engineering Bakiss Hiyana, Abu Bakar Hamzah, Ahmad H∞ filter with fuzzy logic estimation to refrain finite escape time |
| title | H∞ filter with fuzzy logic estimation to refrain finite escape time |
| title_full | H∞ filter with fuzzy logic estimation to refrain finite escape time |
| title_fullStr | H∞ filter with fuzzy logic estimation to refrain finite escape time |
| title_full_unstemmed | H∞ filter with fuzzy logic estimation to refrain finite escape time |
| title_short | H∞ filter with fuzzy logic estimation to refrain finite escape time |
| title_sort | h∞ filter with fuzzy logic estimation to refrain finite escape time |
| topic | T Technology (General) TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/31468/2/Paper_73_correction.pdf |
| work_keys_str_mv | AT bakisshiyanaabubakar hfilterwithfuzzylogicestimationtorefrainfiniteescapetime AT hamzahahmad hfilterwithfuzzylogicestimationtorefrainfiniteescapetime |