A Fuzzy Adaptive PD Controller Based Microassembly System

摘要

Proportional control based visual controller is the main method used in the visual serving, but small proportional gain results in the slowly response and large proportional gain will result in large overshoot or make the system instable. A PD visual controller for microassembly system is presented to acquire better dynamic response. The fuzzy logic is applied to tuning the controller gains which is a model free method. Thus, the difficulty in obtaining precise and detailed system model is avoided and we can get satisfactory performance which is robust to modeling error and external disturbances. Furthermore, image moments are selected as visual features to avoid image singularities and the Jacobian matrix is full rank and upper triangular, thus it has the maximal decoupled structure and simplified the controller. A series of simulations are performed on peg and hole assembly to investigate the feasibility and effectiveness of this method.