Fuzzy Adaptive Strong Tracking Cubature Kalman Filter

To solve the problem that the choice of softening factor in conventional adaptive strong tracking filter( STF) greatly relies on the experience and computer simulation,a new concept of softening factor matrix is introduced and a fuzzy adaptive strong tracking cubature Kalman filter( FASTCKF) based on fuzzy logic controller is proposed. This method monitors residual absolute mean and standard deviation of each measurement component with fuzzy logic adaptive controller( FLAC),and adjusts the softening factor matrix dynamically by fuzzy rules,which is capable to modify suboptimal fading factor of STF adaptively and improve the filter's robust adaptive capacity. The simulation results show that the improved filtering performance is superior to the conventional square root cubature Kalman filter( SCKF) and the strong tracking square root cubature Kalman filter( STSCKF).

Stabilising control for a class of chaotic systems based on adaptive fuzzy logic systems

For a class of chaotic systems with unknown functions and disturbances,asymptotic stabilisation of the chaotic systems is achieved by designing a stability controller based on the adaptive fuzzy logic systems.At first,based on the universal approximation property of fuzzy logic systems,the Mamdani-type fuzzy logic systems with the parameter adaptive laws are designed utilising the data information sampled from the inputs and outputs of unknown functions in the chaotic systems,then the fuzzy logic systems are used to design the stability controller with three parameter adaptive laws,but the three parameters have no relationship with the number of fuzzy rules,so the stability controller is not only able to achieve asymptotic stabilisation for the chaotic system’s states,but also to reduce the number of fuzzy rules and the no-line computational burden significantly.Finally,simulations are used to show the validity of the stabilisation method.

Navigation of Non-holonomic Mobile Robot Using Neuro-fuzzy Logic with Integrated Safe Boundary Algorithm

In the present work, autonomous mobile robot（AMR） system is intended with basic behaviour, one is obstacle avoidance and the other is target seeking in various environments. The AMR is navigated using fuzzy logic, neural network and adaptive neurofuzzy inference system（ANFIS） controller with safe boundary algorithm. In this method of target seeking behaviour, the obstacle avoidance at every instant improves the performance of robot in navigation approach. The inputs to the controller are the signals from various sensors fixed at front face, left and right face of the AMR. The output signal from controller regulates the angular velocity of both front power wheels of the AMR. The shortest path is identified using fuzzy, neural network and ANFIS techniques with integrated safe boundary algorithm and the predicted results are validated with experimentation. The experimental result has proven that ANFIS with safe boundary algorithm yields better performance in navigation, in particular with curved/irregular obstacles.