Fuzzy-Based Parameter Optimization of Adaptive Unscented Kalman Filter: Methodology and Experimental Validation

被引：18

作者：

Asl, Reza Mohammadi ^{[1
]}

Palm, Rainer ^{[2
]}

Wu, Huapeng ^{[1
]}

Handroos, Heikki ^{[1
]}

机构：

[1] LUT Univ, Dept Mech Engn, Lab Intelligent Machines, FI-53850 Lappeenranta, Finland

[2] Orebro Univ, Ctr Appl Autonomous Sensor Syst AASS, SE-70182 Orebro, Sweden

来源：

IEEE ACCESS | 2020年 / 8卷

关键词：

Kalman filters; Optimization; Nonlinear systems; Estimation; Robots; Evolutionary computation; Adaptive systems; Adaptive unscented Kalman filter; state estimation; fuzzy adaptive grasshopper optimization algorithm (FAGOA); time variant noise; robot manipulator; STATE ESTIMATION; SYSTEMS;

D O I：

10.1109/ACCESS.2020.2979987

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This study introduces a fuzzy based optimal state estimation approach. The new method is based on two principles: Adaptive Unscented Kalman filter, and Fuzzy Adaptive Grasshopper Optimization Algorithm. The approach is designed for the optimization of an adaptive Unscented Kalman Filter. To find the optimal parameters for the filter, a fuzzy based evolutionary algorithm, named Fuzzy Adaptive Grasshopper Optimization Algorithm, is developed where its efficiency is verified by application to different benchmark functions. The proposed optimal adaptive unscented Kalman filter is applied to two nonlinear systems: a robotic manipulator, and a servo-hydraulic system. Different simulation tests are conducted to verify the performance of the filter. The results of simulations are presented and compared with a previous version of the unscented Kalman filter. For a realistic test, the proposed filter is applied on the practical servo-hydraulic system. Practical results are discussed, and presented results approve the capability of the presented method for practical applications.

引用

页码：54887 / 54904

页数：18

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