Design and performance of the fuzzy tracking controller in software simulation

Abstract

A fuzzy logic based approach to a camera tracking system has been developed to support proximity operations and traffic management around the Space Station Freedom. Fuzzy sets and fuzzy logic based reasoning, were used in a control system which utilized images from a camera and generated the required pan and tilt commands to track and maintain a moving object in the cameras field of view. The design of the tracking controller is described with the details of the membership functions and the rulebase. The software simulation setup including implementation of the fuzzy controller, and the development of the software algorithm for the camera model and gimble drives, is discussed in a description of test cases, and an analysis of the results is given. The performance of the controller and future work in the camera tracking project are outlined. >