Design and performance comparison of fuzzy logic based tracking controllersSeveral camera tracking controllers based on fuzzy logic principles have been designed and tested in software simulation in the software technology branch at the Johnson Space Center. The fuzzy logic based controllers utilize range measurement and pixel positions from the image as input parameters and provide pan and tilt gimble rate commands as output. Two designs of the rulebase and tuning process applied to the membership functions are discussed in light of optimizing performance. Seven test cases have been designed to test the performance of the controllers for proximity operations where approaches like v-bar, fly-around and station keeping are performed. The controllers are compared in terms of responsiveness, and ability to maintain the object in the field-of-view of the camera. Advantages of the fuzzy logic approach with respect to the conventional approach have been discussed in terms of simplicity and robustness.
Document ID
19920056058
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Lea, Robert N. (NASA Johnson Space Center Houston, TX, United States)
Jani, Yashvant (Togai InfraLogic, Inc. Houston, TX, United States)