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 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)
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)
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