3 years ago

Image-Centroid Tracking with Fuzzy Nonlinear Function of Residuals Based Observer

Parimala P, J. R. Raol


Conventionally Kalman filter is used for image-centroid tracking. In this paper, an observer with fuzzy logic modulated residuals is presented, wherein the underlying dynamic system is linear. This modulation is done by using Fuzzy Membership Function (FMF) that operates on the residuals of the observer. Then, Lyapunov energy functional is used to arrive at the sufficient conditions for the local asymptotic stability for the state-error equations of the observer. Since, any FMF is inherently nonlinear, the resulting observer is nonlinear. The performance of the proposed observer is evaluated by carrying out the simulations in MATLAB using synthetic images. Basically, the image-centroid tracking is performed using the newly proposed observer. The simulation results validate the asymptotic behaviour of the proposed fuzzy logic based observer.

Publisher URL: https://link.springer.com/article/10.1007/s40031-018-0341-9

DOI: 10.1007/s40031-018-0341-9

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