Investigating state covariance properties during finite escape time in H∞ filter SLAM

Hamzah, Ahmad and Nur Aqilah, Othman and Mohd Mawardi, Saari and Mohd Syakirin, Ramli (2018) Investigating state covariance properties during finite escape time in H∞ filter SLAM. In: Proceedings of the 10th National Technical Seminar on Underwater System Technology 2018. Lecture Notes in Electrical Engineering . Springer Singapore, Singapore, pp. 271-283. ISBN 978-981-13-3708-6

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Abstract

This paper deals with the investigation of finite escape time problem in H∞ Filter based localization and mapping. Finite escape time in H∞ Filter has restricted the technique to be applied as the mobile robot cannot determine its location effectively due to inconsistent information. Therefore, an analysis to improved the current H∞ Filter Three main factors are being considered in this research namely the initial state covariance, the γ values and the type of noises. This paper also proposed a modified H∞ Filter to reduce the finite escape time problem in the estimation. The analysis and simulation results determine that the modified H∞ Filter has better performance compared to the normal H∞ Filter as well as to Kalman Filter for different γ, initial state covariance and works well in non-gaussian noise environment.

Item Type:	Book Chapter
Additional Information:	Indexed by Springer
Uncontrolled Keywords:	H∞ Filter; Finite Escape Time; Estimation
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering
Faculty/Division:	Faculty of Electrical & Electronic Engineering
Depositing User:	Pn. Hazlinda Abd Rahman
Date Deposited:	24 Dec 2018 07:26
Last Modified:	21 May 2019 07:46
URI:	http://umpir.ump.edu.my/id/eprint/22934
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