Name
Abstract | ||
|---|---|---|
In past research on the control of pneumatic actuators, typically proportional servovalves have been used for achieving high-performance control of the mass flow rate. In this brief, we instead use fast-switching ON/OFF valves due to their distinct advantages in terms of low cost and small size. Accurate control of pneumatic actuators with ON/OFF solenoid valves is a challenge since the system dynamics is both discrete input and highly nonlinear. In this brief, we apply a hybrid control algorithm to a pneumatic actuator with ON/OFF valves. Such a control approach is developed for choosing the best control vector at each sample time to track the reference state (i.e., desired force) in the inner force control loop within a bilateral teleoperation system. Experimental results show that good teleoperation transparency is achieved despite all the obstacles such as discrete input and nonlinear behavior of the pneumatic-actuated teleoperation system. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/TCST.2012.2205386 | IEEE Trans. Contr. Sys. Techn. |
Keywords | Field | DocType |
Valves,Force,Solenoids,Manipulators,Pneumatic actuators,Vectors | Teleoperation,Control valves,Pneumatic actuator,Nonlinear system,Control theory,Control engineering,System dynamics,Control system,Mass flow rate,Mathematics,Solenoid | Journal |
Volume | Issue | ISSN |
21 | 4 | 1063-6536 |
Citations | PageRank | References |
3 | 0.46 | 9 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Minh-Quyen Le | 1 | 9 | 1.08 |
| Minh Tu Pham | 2 | 76 | 15.53 |
| Mahdi Tavakoli | 3 | 223 | 49.03 |
| Richard Moreau | 4 | 12 | 4.60 |
| Jean-Pierre Simon | 5 | 3 | 0.79 |
| Tanneguy Redarce | 6 | 79 | 16.14 |