Stability and noises evaluation of Fuzzy/Kalman UAV navigation system

Author

Raimondi, Francesco M. ; Melluso, Maurizio

Author_Institution

Dipt. di Ing. dell´´Autom. e dei Sist., Univ. of Palermo, Palermo, Italy

fYear

2009

fDate

15-18 Dec. 2009

Firstpage

768

Lastpage

775

Abstract

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.

Keywords

Kalman filters; Lyapunov methods; aerospace robotics; angular velocity control; asymptotic stability; closed loop systems; fuzzy control; mobile robots; motion control; position control; remotely operated vehicles; sensors; telerobotics; Kalman filter; Matlab environment; closed loop velocity; external noise; fuzzy control system; fuzzy-Kalman navigation system; internal noise; nominal motion; reference trajectory; sensors; stability; unmanned aerial vehicles; Feedback; Fuzzy control; Fuzzy systems; Kalman filters; Navigation; Sensor systems; Stability; System testing; Unmanned aerial vehicles; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 2009 held jointly with the 2009 28th Chinese Control Conference. CDC/CCC 2009. Proceedings of the 48th IEEE Conference on

Conference_Location

Shanghai

ISSN

0191-2216

Print_ISBN

978-1-4244-3871-6

Electronic_ISBN

0191-2216

Type

conf

DOI

10.1109/CDC.2009.5400100

Filename

5400100