title: Autonomous navigation system using a fuzzy adaptive nonlinear H∞ filter.
abstract: Although nonlinear H∞ (NH∞) filters offer good performance without requiring assumptions concerning the characteristics of process and/or measurement noises, they still require additional tuning parameters that remain fixed and that need to be determined through trial and error. To address issues associated with NH∞ filters, a new SINS/GPS sensor fusion scheme known as the Fuzzy Adaptive Nonlinear H∞ (FANH∞) filter is proposed for the Unmanned Aerial Vehicle (UAV) localization problem. Based on a real-time Fuzzy Inference System (FIS), the FANH∞ filter continually adjusts the higher order of the Taylor development thorough adaptive bounds  and adaptive disturbance attenuation , which significantly increases the UAV localization performance. The results obtained using the FANH∞ navigation filter are compared to the NH∞ navigation filter results and are validated using a 3D UAV flight scenario. The comparison proves the efficiency and robustness of the UAV localization process using the FANH∞ filter.
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, 37 Xueyuan Road, Haidian District, 100191 Beijing, China. outamazirt.fariz@gmail.com.
authors.forename: Fariz
authors.initials: F
authors.lastname: Outamazirt
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, 37 Xueyuan Road, Haidian District, 100191 Beijing, China. fuli@buaa.edu.cn.
authors.forename: Fu
authors.initials: F
authors.lastname: Li
authors.affiliation: School of Automation Science and Electrical Engineering, Beihang University, 37 Xueyuan Road, Haidian District, 100191 Beijing, China. linyanee2@yahoo.com.cn.
authors.forename: Lin
authors.initials: L
authors.lastname: Yan
authors.affiliation: School of Control and Automation, Ecole Militaire Polytechnique, EMP, Bordj El Bahri, 16111 Algiers, Algeria. karim_nemra@yahoo.fr.
authors.forename: Abdelkrim
authors.initials: A
authors.lastname: Nemra