Robust fuzzy gain scheduled visual-servoing with sampling time uncertainties

Author

Kadmiry, Bourhane ; Bergsten, Pontus

Author_Institution

Dept. of Comput. & Inf. Sci., Linkoping Univ., Sweden

fYear

2004

fDate

2-4 Sept. 2004

Firstpage

239

Lastpage

245

Abstract

This work addresses the robust fuzzy control problem for discrete-time nonlinear systems in the presence of sampling time uncertainties in a visual-servoing control scheme. The Takagi-Sugeno (T-S) fuzzy model is adopted for the nonlinear geometric model of a pin-hole camera, which presents second-order nonlinearities. The case of the discrete T-S fuzzy system with sampling-time uncertainty is considered and a multi-objective robust fuzzy controller design is proposed for the uncertain fuzzy system. The sufficient conditions are formulated in the form of linear matrix inequalities (LMI). The effectiveness of the proposed controller design methodology is demonstrated through numerical simulation, and then tested on an EVI-D31 SONY camera.

Keywords

control system synthesis; discrete time systems; fuzzy control; fuzzy systems; image motion analysis; linear matrix inequalities; nonlinear control systems; robust control; Takagi-Sugeno fuzzy model; discrete-time nonlinear system; linear matrix inequalities; robust fuzzy control; sampling time uncertainties; uncertain fuzzy system; visual-servoing control scheme; Cameras; Control systems; Fuzzy control; Fuzzy systems; Nonlinear systems; Robust control; Robustness; Sampling methods; Solid modeling; Uncertainty;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control, 2004. Proceedings of the 2004 IEEE International Symposium on

ISSN

2158-9860

Print_ISBN

0-7803-8635-3

Type

conf

DOI

10.1109/ISIC.2004.1387689

Filename

1387689