Controller Design Result

Since we are using position-position control for the teleoperator, a good controller is very important. Since the two devices are almost the same, we will use the same controller for both the master side and the slave side. To choose a good controller, we turn the PID parameters for a single falcon device first.
If we only use P controller and feed sinusoids with different frequencies as desired trajectories, the results for different Kp values are shown below:
Kp = 50

Kp = 100

Kp = 200

Kp = 300

Kp = 400


Kp = 500

Kp = 600

If we use PD controller and feed sinusoids with different frequencies as desired trajectories, the results for different Kp and Kd values are shown below:
Kp = 700, Kd = 10

Kp = 700, Kd = 20

Kp = 700, Kd = 30

If we se PID controller and feed sinusoids with different frequencies as desired trajectories, the results for different Kp, Ki and Kd values are shown below:
Kp = 500, Ki = 4, Kd = 10

Kp = 500, Ki = 4, Kd = 20

Kp = 700, Ki = 2, Kd = 20

Kp = 700, Ki = 3, Kd = 20



Demo:

Plot of the master and slave trajectories: