Fuzzy Control for a Visual Servoing System

This paper is concerned with a specific class of IBVS problem, in which a camera is constrained to move in the depth-axis (or Z-axis). Such a constraint condition makes it possible to find an image moment reflecting target depth. Using image moments can be benefit to the performance of visual servoing system, such as image-noise-insensitive, economical computation, and etc. In this paper, the mathematic relationship between zero-order image moment (M00) and target depth is firstly deduced. Then the appropriate image feature is found, and thus leads to an effective fuzzy logical controller (FLC). The simulation results show that in the control of our FLC, visual servoing system performances well with a high accuracy.