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Fuzzy-Based Parameter Optimization of Adaptive Unscented Kalman Filter: Methodology and Experimental Validation
Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland.
Örebro University, School of Science and Technology. (Centre for Applied Autonomous Sensor Systems (AASS))
Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland.
Laboratory of Intelligent Machines, Department of Mechanical Engineering, LUT University, Lappeenranta, Finland.
2020 (English)In: IEEE Access, E-ISSN 2169-3536, Vol. 8, p. 54887-54904Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE, 2020. Vol. 8, p. 54887-54904
Keywords [en]
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
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:oru:diva-81338DOI: 10.1109/ACCESS.2020.2979987ISI: 000524750000018Scopus ID: 2-s2.0-85082716391OAI: oai:DiVA.org:oru-81338DiVA, id: diva2:1426266
Available from: 2020-04-24 Created: 2020-04-24 Last updated: 2020-04-24Bibliographically approved

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Palm, Rainer

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