Sliding-mode bilateral teleoperation control design for master–slave pneumatic servo systems

Abstract

This paper presents a novel bilateral control design scheme for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. The motivation for using pneumatic actuators in lieu of electrical actuators is that the former has higher force to mass ratio than the latter and is inert to magnetic fields, which is crucial in certain teleoperation applications such as MRI-guided, robot-assisted surgery. A sliding mode approach, called the three-mode control scheme, is incorporated into a two-channel bilateral teleoperation architecture, which can implement a position-position, force-force, or force-position scheme. An analysis of stability and transparency of the closed-loop teleoperation system is carried out. The proposed control design performance is experimentally verified on a single-degree-of-freedom pneumatic teleoperation system actuated by on/off valves. Experimental results show high accuracies in terms of position and force tracking under free-space motion and hard-contact motion in the teleoperation system. Another purpose of this paper is to demonstrate the possibility to improve the valve lifetime by increasing the number of control levels. To do this, a new control design, called the five-mode control scheme, is developed and compared with the three-mode scheme in time domain as well as in frequency domain.

Intelligent twisting sliding mode controller using neural network for pneumatic artificial muscles robot arm

“…These difficulties give an overestimation of these bounds, and then an overestimation of the gains inducing larger chattering phenomenon even with high order sliding mode [14] [15] [16].…”

Nonlinear Discontinuous Dynamics Averaging and PWM-Based Sliding Control of Solenoid-Valve Pneumatic Actuators

“…In [30], [31] the controllers could be seen as discretetime event controllers. Indeed the control laws used in these papers were directly the input voltages of the different solenoid valves.…”

“…This controller enabled to choose the best mode, amongst three and seven available modes, to apply at each sampling period. In [31], a hybrid predictive controller using two additional operating modes was utilised with different teleoperation schemes. We showed that employing extra modes facilitates the use of more appropriate amounts of drive energy for a good position control.…”

Direct adaptive fuzzy control of a translating piezoelectric flexible manipulator driven by a pneumatic rodless cylinder

“…The eigenvalues r 5,6 denote a two-order oscillation element, and r 7 ¼0 indicates that the system has an integral element. The complex eigenvalues r 5,6 , together with the real eigenvalue r 7 , are corresponding to the positioning system of the pneumatic cylinder, regarding as a three-order system.…”

“…In addition, servovalves have been used to achieve high performances in various positioning or force control tasks [5]. However, the servovalves are very expensive and not commonly available.…”