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

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.