Visual servoing based on fuzzy adaptive PID with Modified Smith Predictor for micromanipulation

A control scheme based on fuzzy adaptive PID with a Modified Smith Predicator (MSP) for the control of micromanipulation is proposed. For the vision delay, a timing modeling of visual servoing system is built. According to analysis for the position based dynamic look and move control scheme, the control scheme employs fuzzy PID with a similar structure to the Smith predictor called modified Smith predictor to eliminate the vision delay. The simulations and experiments show that the vision control system with the proposed control scheme has better dynamic performance than the vision control system with a single PID controller. The proposed control scheme resolves the problems of vision servoingpsilas inherent time delay, which meets the requirements of micromanipulation.