Visual servoing with modified Smith predictor for micromanipulation

A control scheme with a Modified Smith Predicator (MSP) for the position-based dynamic look-and-move visual servoing for the control of micromanipulation was proposed. The position-based dynamic look-and-move control scheme was applied to the vision servoing system with a dual-loop control scheme, in which the local controller was used as a position-controlled device, and the outer one as a vision servoing controller. The control scheme with a similar structure to the Smith predictor called modified Smith predictor was employed to eliminate the vision delay. The detailed analysis and experiments show that the vision control system with the proposed control scheme has better dynamics performance than the vision control system with a single PID controller. The proposed control scheme resolves the problems of vision servoing's inherent time delay induced by time consuming image acquisition transfering and processing and improves the dynamic response properties and antijamming ability of the vision servoing.