Image-based fuzzy control system

Abstract

A novel image-based fuzzy control (IBFC) scheme is developed to imitate the way humans use visual information to control objects. A CCD camera gathers images of the controlled plant, and a simple algorithm analyses the images. The proposed image analysis algorithm utilises image information more intuitively than visual servo control systems. The difference between a reference image and the current image is numerically expressed and directly used by a fuzzy control system using a human-like control law. To investigate the effectiveness of the proposed IBFC scheme, it is applied to control an inverted pendulum system. Simulation results show that the IBFC system can achieve favourable tracking performance without prior knowledge of the controlled plant.