6533b86efe1ef96bd12cbfda
RESEARCH PRODUCT
Stability and Noises Evaluation of Fuzzy Kalman UAV Navigation System.
Maurizio MellusoFrancesco Maria Raimondisubject
Engineeringbusiness.industryComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISIONNavigation systemComputerApplications_COMPUTERSINOTHERSYSTEMSControl engineeringFuzzy control systemKalman filterMotion controlSensor fusionFuzzy logicComputer Science::RoboticsNoiseExtended Kalman filterStability Noises Fuzzy Kalman UAV NavigationSettore ING-INF/04 - AutomaticaComputer Science::Systems and ControlControl theorybusinessdescription
In this paper a new Fuzzy/Kalman navigation system for Unmanned Aerial Vehicles (UAV) is presented. A closed loop velocity Fuzzy navigation system is proposed for stabilizing the UAV in a reference trajectory generated dynamically and for obtaining a forward velocity command. The Kalman's filter (KF) is included in the feedback line of the fuzzy control system to filter the internal noise of the sensors and to evaluate the external noise due to possible perturbations of the nominal motion. The efficiency of the navigation system has been shown through experimental tests in a Matlab environment.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2009-12-01 |