Modeling and fuzzy control of 3-DOF image stabilizer in presence of uncertainty and disturbance

Author

Javanfar, Elham ; Fatehi, Alireza

Author_Institution

Dept. of Electr. & Comput. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran

fYear

2011

fDate

25-27 Nov. 2011

Firstpage

204

Lastpage

209

Abstract

A 3-DOF image stabilizer (periscope) is modeled and controlled, such that target is fixed in the center of camera image. Its nonlinear dynamic equations are extracted by applying the Euler-Lagrange equation of rigid body motion in presence of friction. The extracted equations are second order motion equations. Moreover, fuzzy sliding mode controller (FSMC) for target tracking is applied to this nonlinear system where it is subject to uncertainty and external disturbances. The controller is MIMO and it has knowledge-based structure. This method eliminates chattering that exists in the conventional sliding mode. The effectiveness of the developed algorithm is validated by simulation results.

Keywords

MIMO systems; cameras; control nonlinearities; friction; fuzzy control; motion control; nonlinear control systems; nonlinear dynamical systems; target tracking; uncertain systems; variable structure systems; 3-DOF image stabilizer; Euler-Lagrange equation; MIMO; chattering elimination; disturbance; friction; fuzzy sliding mode controller; knowledge-based structure; nonlinear dynamic equation; nonlinear system; periscope; second order motion equation; target tracking; uncertainty; Control systems; Dynamics; Equations; Mathematical model; Mirrors; Torque; Uncertainty; 3-DOF image stabilizer; Euler-Lagrange equation; fuzzy sliding mode controller; sliding mode controller;

fLanguage

English

Publisher

ieee

Conference_Titel

Control System, Computing and Engineering (ICCSCE), 2011 IEEE International Conference on

Conference_Location

Penang

Print_ISBN

978-1-4577-1640-9

Type

conf

DOI

10.1109/ICCSCE.2011.6190523

Filename

6190523