Minh-Quyen Le

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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(More)
This paper presents a new predictive hybrid control law for a pneumatic teleoperation system using solenoid valves. Based on a predictive model of the mass flow rate of the valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to(More)
This paper presents a new predictive hybrid control law for a pneumatic teleoperation system using solenoid valves. Based on a predictive model of the mass flow rate of the valves, this method is used within a four-channel (4CH) bilateral control architecture for haptic teleoperation. An analysis of the controller parameters is carried out in order to(More)
This paper proposes a sliding mode law for precise position control with minimal switching activity for a robotic system that uses on/off (solenoid) pneumatic actuators, For a two-chamber pneumatic actuator with four binary solenoid valves, there is a total of sixteen possible input combinations defined directly from the state of the four on/off solenoid(More)
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 paper, 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(More)
This paper presents an enhanced sliding mode control for pneumatic master-slave teleoperation systems that are actuated by low-cost solenoid valves. A five-mode sliding control is incorporated into position-position, force-force, and force-position teleoperation architectures. While on/off valve pneumatic actuators have previously been modeled as having(More)
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