nonlinear control

Nonlinear state estimation in mobile robots using a fuzzy observer

The performance of model based fault detection and isolation systems can be improved by designing more accurate estimation methods. This work presents a novel implementation of a nonlinear Kalman filter based on the Takagi-Sugeno (TS) fuzzy …

Fuzzy logic based nonlinear Kalman filter applied to mobile robots modelling

In order to reduce the false alarms in fault detection systems for mobile robots, accurate state estimation is needed. Through this work, a new method for localization of a mobile robot is presented. First, a Takagi-Sugeno fuzzy model of a mobile …