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

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...

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Bibliographic Details
Published in2011 IEEE International Conference on Control System, Computing and Engineering pp. 204 - 209
Main Authors Javanfar, E., Fatehi, A.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2011
Subjects
3-DOF image stabilizer
Control systems
Dynamics
Equations
Euler-Lagrange equation
fuzzy sliding mode controller
Mathematical model
Mirrors
sliding mode controller
Torque
Uncertainty
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Summary: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.
ISBN:9781457716409
1457716402
DOI:10.1109/ICCSCE.2011.6190523