A novel T-S fuzzy particle filtering algorithm based on fuzzy C-regression clustering

摘要

In this paper, a novel Takagi-Sugeno (T-S) fuzzy model particle filtering algorithm (TSF-PF) based on fuzzy C-regression clustering is proposed for uncertainty modeling of the target dynamic model with non-Gaussian noise. In the proposed algorithm, a generic semantic framework of the T-S fuzzy model is constructed to incorporate spatial feature information of a target into the particle filter, in which the spatial feature information is characterized by several semantic fuzzy sets. Meanwhile, a fuzzy C-regression clustering method based on correntropy is proposed to adaptively identify the premise parameters of the T-S fuzzy model, which is used to adjust the weight of models, and a Kalman filter is used to identify the consequent parameters. And then an efficient importance density function is constructed by using the proposed T-S fuzzy model, which can efficiently improve the robust and diversity of the sampling particles. Furthermore, in order to improve the real-time performance of the proposed algorithm, two improved T-S fuzzy model particle filtering algorithms are presented. The simulation results show that the tracking performance of the proposed algorithms are better than that of the traditional interacting multiple model (IMM), interacting multiple model unscented Kalman filter (IMMUKF), interacting multiple model particle filter (IMMPF) and interacting multiple model Rao-Blackwellized particle filter (IMMRBPF). Particularly, the proposed algorithms can accurately track the maneuvering target when the moving direction abruptly changes or the prior information of the target dynamic model is inaccuracy. (C) 2019 Elsevier Inc. All rights reserved.