An Enhanced Sliding-Mode Control for a Pneumatic-Actuated Teleoperation System

Minh-Quyen Le (1) , Minh Tu Pham (1) , Mahdi Tavakoli (2) , Richard Moreau (1)

1 AMPERE - Ampère
2 Telerobotic and Biorobotic Systems Group

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 three discrete operating modes, an extension to five discrete control levels as proposed here helps to improve the actuator dynamic performance and reduce the switching activities of the valves. Stability and transparency analyses of the closed-loop teleoperation system are carried out. The proposed control design is experimentally tested on a single-degree-of-freedom pneumatic teleoperation system. Experimental results demonstrate high accuracies in terms of position and force tracking in the teleoperation system.

Mots clés: Hydraulic/Pneumatic Actuators; Telerobotics; Haptics and Haptic Interfaces

Domaines: Energie électrique

Minh-Quyen Le, Minh Tu Pham, Mahdi Tavakoli, Richard Moreau. An Enhanced Sliding-Mode Control for a Pneumatic-Actuated Teleoperation System. 2011 IEEE IROS, Sep 2011, San Francisco, CA, United States. pp.659-664, ⟨10.1109/IROS.2011.6048047⟩. ⟨hal-00619042⟩