Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves

Author

Le, M.Q. ; Pham, M.T. ; Tavakoli, M. ; Moreau, R.

Author_Institution

Lab. Ampere, Univ. de Lyon, Lyon, France

fYear

2011

fDate

9-13 May 2011

Firstpage

874

Lastpage

879

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.

Keywords

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; Dynamics; Force; Manipulators; Sliding mode control; Solenoids; Stability analysis; Valves; Pneumatic actuator; haptic teleoperation; on/off solenoid valve; sliding mode control; stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5979610

Filename

5979610