Sliding Mode Control of a Pneumatic Haptic Teleoperation System with on/off Solenoid Valves

摘要：

This paper presents a novel bilateral control scheme for pneumatic teleoperation systems that are actuated by lowcost 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.

关键词： Pneumatic actuator on/off solenoid valve sliding mode control haptic teleoperation stability

作者: M.Q. Le M.T. Pham M. Tavakoli R. Moreau

作者单位: Laboratoire Ampère,UMR CNRS 5005,Université de Lyon,INSA-Lyon,France Department of Electrical and Computer Engineering,University of Alberta,Canada

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 874-879

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）