Robust Fuzzy Gain Scheduled visual-servoing with Sampling Time Uncertainties
Linköping University, Department of Computer and Information Science, AUTTEK - Autonomous Unmanned Aerial Vehicle Research Group
Linköping University, The Institute of Technology
Conference paper (Refereed)
IEEE International Symposium on Intelligent Control ISIC,2004
Visual-serving, T-S fuzzy gain scheduled control, Linear Matrix Inequalities, sampling time uncertainty, Lyapunov robust stability, LQR guaranteed cost, multi-objective robustness
Abstract-This paper 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, then tested on a EVI-D31 SONY camera.