Simulation of Remote Manipulator Control System with Saturated Actuator

Abstract

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.