The invention relates to the field of
servo control, in particular to a visual
servo control method for a multi-rate
system, and the method comprises the steps: analyzing the abnormal tendency of a controlled target through determining an operation matching value, an
operation time delay characterization value and a time
delay dynamic characterization value, and judging whether a prediction model needs to be constructed or not; based on the position
time sequence, a
Gaussian regression process is established, and construction of a prediction model is completed by predicting a time point of a moment; analyzing the accuracy of a
model prediction result; constructing a
state predictor to predict the
control period of the multi-rate
system, and judging whether the predicted
data needs to be interpolated or not by combining the
control period of the prediction model and the control frequency; and recording the prediction model and the
state predictor, and applying the prediction model and the
state predictor to a
servo control process. According to the method, the prediction model is constructed, the time
delay influence is processed, observation and prediction of the
system state are completed, the high-frequency
control period is selected for interpolation, and the control performance and the dynamic characteristic are improved.