由於光纖傳輸頻寬是電纜傳輸頻寬的數百倍以上，且隨著近年來光通訊技術的發展成熟，因此光纖通訊系統儼然已成為有線通訊的主流。然而光纖與光學元件耦合時之複雜程度高且光能量損失無可避免，形成了降低成本的一個瓶頸，使得光纖的自動組裝定位技術需求更顯迫切。
本論文利用壓電致動器(PEA)具有高解析度、體積小、低耗能、響應快速等優點，搭配機器視覺發展一光纖微定位平台。由於壓電致動器之定位精準度往往受到其非線性磁滯現象(hysteresis)與參數隨溫度改變的特性所影響，故使用B-spline近似磁滯模型做為前饋反磁滯控制器，藉以補償其磁滯現象。此外，並設計模糊邏輯控制器改善因雜訊干擾及建模之不確定性所產生的誤差量，再利用各種不同的參考命令來測試其伺服控制架構之強健性與精確度。
在視覺伺服控制應用方面，由於視覺感測器(vision sensor)具有時間延遲(latency)的特性，造成視覺命令不平滑且動態響應較差的缺點，因此為了提升具有視覺回授的系統性能，本論文採用多取樣頻率控制(multirate control)之策略，縮短系統之控制週期進而改善視覺落後的現象，期能與壓電致動平台整合成一個具有較佳性能之視覺光纖對位系統。經實驗結果顯示，本論文所提之方法效果良好。

Due to the fact that the bandwidth of optic fiber transmission is several hundred times greater than cable transmission and optical communication technology is well-developed and has advanced in recent years, the optic fiber communication system has become the mainstream of wired communication. However, the coupling procedure between optic fiber and the waveguide is very complex so that the coupling loss caused by disalignment is inevitable. This creates an obstacle to cost reduction. Hence the technological demand of auto-assembly and positioning control cannot be overlooked.
The advantages of the Piezoelectric actuator (PEA) include high resolution, compactness, low energy consumption, and rapid response. This thesis takes advantages of PEA to develop a vision-based optical fiber alignment platform. However, the tracking control accuracy of PEA is limited due to its inherent hysteretic nonlinearity and time varying parameters. In order to cope with this difficulty, a feedforward inverse hysteresis controller based on a B-spline approximation model is adopted to eliminate the hysteresis effects. In addition, a fuzzy logic controller is designed to reduce the error due to noise and model uncertainty. The accuracy and robustness of the servo control scheme are verified via a variety of reference inputs.
In addition, the vision latency problem makes the visual command unsmooth and the performance is degraded. In order to improve the performance of the system with visual feedback, the idea of multirate control was exploited to shorten the sampling period of the control system. Experimental results show that the proposed approach exhibits satisfactory performance.

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