文章基本信息

标题：Simulation of Remote Manipulator Control System with Saturated Actuator
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作者：Iuliia Zaitceva ; Boris Andrievsky ; Nikolay V. Kuznetsov 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2022
卷号：55
期号：10
页码：2980-2985
DOI：10.1016/j.ifacol.2022.10.185
语种：English
出版社：Elsevier
摘要：The paper is devoted to a human operator control for an electromechanical remote manipulator. It is assumed that a human operator in a closed-loop achieves the goal of control by deflecting the joystick. A saturation nonlinearity is taken into account in the paper. To compensate for the negative phase delay in the system performance, a corrective filter is introduced to the actuator loop. For such a nonlinear system the identification algorithm of the parameters of the human operator model is proposed. The algorithm relies on an optimization method with constraints imposed on the control system parameters. The simulation results demonstrate the dependence of human operator model parameters on the controller gain. The nonlinear filter application in a control loop with a saturated actuator demonstrates an improvement of the system performance and the oscillations prevention of the output coordinate.
关键词：Modeling;simulation;control;monitoring of manufacturing processes;optimization;robotics in manufacturing