| Target tracking involves the process of pointing a system at a desired object of interest. A systems approach to target tracking utilizing a control scheme based on fuzzy logic is presented. An approach using Takagi-Sugeno-Kang (TSK) fuzzy control is described and used as a foundation from which the method of Hierarchical fuzzy control is developed. Many systems have non-linearities that are deterministic and very characterizable. Each of these non-linearities may be independent in behavior and as such, can be treated as independent in the construction of the inference portion of the design. While the classic fuzzy system typically has one rule-base, a more efficient design using multiple rule-bases may prove to be superior if the independence of the non-linearities holds. In addition, with a typical TSK fuzzy controller, all non linearities are compensated for with a calculation of a set of coefficients for the output polynomial equations. For certain non-linearities, it becomes advantageous to manipulate the values of the command or state variables, as opposed to the polynomial coefficients. |
