Design and simulation of a MRAC controller for a human-scale tele-operating system

Author

Xiao, Nan ; Guo, Shuxiang

Author_Institution

Fac. of Eng., Kagawa Univ., Takamatsu, Japan

fYear

2011

fDate

7-10 Aug. 2011

Firstpage

1843

Lastpage

1848

Abstract

In the paper the authors introduced a human-scale tele-operating system for biomedical applications. The core of the system is a 6 DOF parallel mechanism with highly precision. A control model was built and the parameters were identified by a genetic algorithm. To improve the performances and eliminate the nonlinear hysteretic restoring force, a MRAC controller was designed. The MRAC controller was designed based on Lyapunov stability theory. Then numerical experiments were carried out. The numerical experimental results indicate that the controller could improve the performances and the nonlinear hysteretic restoring force was got compensated.

Keywords

Lyapunov methods; control system synthesis; genetic algorithms; hysteresis; medical robotics; micromanipulators; model reference adaptive control systems; nonlinear control systems; stability; telerobotics; 6 DOF parallel mechanism; Lyapunov stability theory; MRAC controller design; biomedical application; genetic algorithm; human-scale tele-operating system; micromanipulator; nonlinear hysteretic restoring force elimination; Adaptation models; Force; Genetic algorithms; Hysteresis; Numerical simulation; Piezoelectric actuators; Bouc-Wen; MRAC; Micro operating; parallel mechanism;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2011 International Conference on

Conference_Location

Beijing

ISSN

2152-7431

Print_ISBN

978-1-4244-8113-2

Type

conf

DOI

10.1109/ICMA.2011.5986260

Filename

5986260