Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves
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. Acc...
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| Veröffentlicht in: | IEEE transactions on control systems technology 2013-07, Vol.21 (4), p.1463-1470 |
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| creator | Quyen Minh Le Minh Tu Pham Tavakoli, M. Moreau, R. Simon, J. Redarce, T. |
| description | 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. |
| doi_str_mv | 10.1109/TCST.2012.2205386 |
| format | Article |
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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. 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(IEEE) Jul 2013</rights><rights>Distributed under a Creative Commons Attribution 4.0 International License</rights><lds50>peer_reviewed</lds50><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c451t-e7431707104a8fdfd8eb6fb4315eefcf623a978b69f9cbf8e817c3689b48e7c93</citedby><cites>FETCH-LOGICAL-c451t-e7431707104a8fdfd8eb6fb4315eefcf623a978b69f9cbf8e817c3689b48e7c93</cites><orcidid>0000-0001-6799-5899 ; 0000-0002-0540-7251 ; 0000-0003-4885-5107 ; 0000-0001-5907-159X</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6242392$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>230,315,781,785,797,886,27929,27930,54763</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6242392$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc><backlink>$$Uhttps://hal.science/hal-00799870$$DView record in HAL$$Hfree_for_read</backlink></links><search><creatorcontrib>Quyen Minh Le</creatorcontrib><creatorcontrib>Minh Tu Pham</creatorcontrib><creatorcontrib>Tavakoli, M.</creatorcontrib><creatorcontrib>Moreau, R.</creatorcontrib><creatorcontrib>Simon, J.</creatorcontrib><creatorcontrib>Redarce, T.</creatorcontrib><title>Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves</title><title>IEEE transactions on control systems technology</title><addtitle>TCST</addtitle><description>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.</description><subject>Actuators</subject><subject>Bilateral control</subject><subject>Control systems</subject><subject>Control valves</subject><subject>Electric power</subject><subject>Engineering Sciences</subject><subject>Force</subject><subject>haptic teleoperation</subject><subject>hybrid control</subject><subject>Manipulators</subject><subject>Mathematical analysis</subject><subject>Nonlinearity</subject><subject>ON/OFF solenoid valve</subject><subject>Pneumatic actuators</subject><subject>Pneumatics</subject><subject>Solenoid valves</subject><subject>Solenoids</subject><subject>Studies</subject><subject>transparency</subject><subject>Valves</subject><subject>Vectors</subject><issn>1063-6536</issn><issn>1558-0865</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2013</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNpdkU1rGzEQhpeSQJ2PH1B6EeTSHtbRx-rr6JqmKZgmxE5yFNr1iMjIK0daB_zvo8Uhh55mGJ73ZWbeqvpG8JQQrK9X8-VqSjGhU0oxZ0p8qSaEc1VjJfhJ6bFgteBMfK3Oct5gTBpO5aR6-OWDHSDZgOaxH1IMKDr0L_bB92ATuu9hv7WD79AKAsRdIQcfe7Q85AG26NkPL2gZA_TRr9GTDW-QL6pTZ0OGy496Xj3e_F7Nb-vF3Z-_89mi7hpOhhpkw4jEkuDGKrd2awWtcG0ZcgDXOUGZ1VK1QjvdtU6BIrJjQum2USA7zc6rn0ffFxvMLvmtTQcTrTe3s4UZZxhLrZXEb6SwP47sLsXXPeTBbH3uIATbQ9xnQxoiC8nZaHv1H7qJ-9SXSwxhQpfvSk4LRY5Ul2LOCdznBgSbMREzJmLGRMxHIkXz_ajxAPDJC9pQpil7B4oVhmk</recordid><startdate>20130701</startdate><enddate>20130701</enddate><creator>Quyen Minh Le</creator><creator>Minh Tu Pham</creator><creator>Tavakoli, M.</creator><creator>Moreau, R.</creator><creator>Simon, J.</creator><creator>Redarce, T.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. 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| subjects | Actuators Bilateral control Control systems Control valves Electric power Engineering Sciences Force haptic teleoperation hybrid control Manipulators Mathematical analysis Nonlinearity ON/OFF solenoid valve Pneumatic actuators Pneumatics Solenoid valves Solenoids Studies transparency Valves Vectors |
| title | Bilateral Control of Nonlinear Pneumatic Teleoperation System With Solenoid Valves |
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