A1 Journal article (refereed), original research

Fuzzy-based parameter optimization of adaptive unscented Kalman filter: Methodology and experimental validation

Open Access publication

Publication Details
Authors: Mohammadi Asl Reza, Palm Rainer, Wu Huapeng, Handroos Heikki
Publisher: Institute of Electrical and Electronics Engineers (IEEE): OAJ / IEEE
Publication year: 2020
Language: English
Related Journal or Series Information: IEEE Access
eISSN: 2169-3536
JUFO-Level of this publication: 2
Open Access: Open Access publication


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.

Last updated on 2020-23-03 at 13:04