Name
Title | ||
|---|---|---|
Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves |
Abstract | ||
|---|---|---|
This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by low cost solenoid valves. A sliding mode control is incorporated into a two-channel, bilateral teleoperation architecture involving position-position, force-force, or force-position schemes. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design is verified on a single-degree-of-freedom pneumatic teleoperation system with four on/off solenoid valves. Moreover, simulation results demonstrate high accuracies in terms of position and force tracking in the teleoperation system. |
Year | DOI | Venue |
|---|---|---|
2011 | 10.1109/ICRA.2011.5979610 | Robotics and Automation |
Keywords | Field | DocType |
closed loop systems,control system synthesis,force control,position control,solenoids,stability,telerobotics,valves,variable structure systems,bilateral control scheme,closed-loop teleoperation system,control design,force tracking,force-force scheme,force-position scheme,on-off solenoid valve,pneumatic haptic teleoperation system,position tracking,position-position scheme,sliding mode control,stability analysis,Pneumatic actuator,haptic teleoperation,on/off solenoid valve,sliding mode control,stability | Teleoperation,Pneumatic actuator,Control theory,Simulation,Control engineering,Engineering,Telerobotics,Haptic technology,Sliding mode control,Solenoid | Conference |
Volume | Issue | ISSN |
2011 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
978-1-61284-386-5 | 6 | 0.63 |
References | Authors | |
1 | 4 | |
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 | 6 | 1.30 |