H∞ Filter with Fuzzy Logic Estimation: An Analysis to Refrain Finite Escape Time (FET)

Abstract

Aiming to refrain the present of Finite Escape Time (FET) issue in H∞ Filter (HF) during mobile robot observations, a new approach based on H∞ Filter with fuzzy logic (FHF) based on mobile robot localization and mapping are proposed in this paper. Over pass decade, the famous Extended Kalman Filter (EKF) are aggressively use in mobile robot observation, however its capabilities are limited to Gaussian noise only. Despite to this limitation, the H∞ Filter is choose and offer better solution. However, the shortcoming of Finite Escape Time may limit the H∞ Filter estimation capabilities. Finite Escape Time issue may lead to inaccurate estimation result. Hence, in order to guarantee no Finite Escape Time, a new H∞ Filter with Fuzzy Logic is developed by using fuzzy logic approach. The design focusses on adding a fuzzy logic rules and fuzzy set in the H∞ Filter innovation stage. The fuzzy logic membership will focus on trapezoid membership. The analysis on H∞ Filter is done in two stage, which are without and with implementation of fuzzy logic. The simulation result convinces that fuzzy logic effectively capable in reducing the Finite Escape Time and simultaneously improve the estimation between mobile robot and landmarks.