Abstract:For a pneumatic teleoperation system, slidingmode control laws ensuring both transparency and low switching (open/close) activity of the valves are developed. Each pneumatic actuator has four on/off valves, thus sixteen possible combinations ("operating modes") for the valves exist but only seven of them are both functional and unique. While previous works have focused on three-mode sliding-based position control of one pneumatic actuator, this paper develops seven-mode sliding-based bilateral control of a tel… Show more
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