Off Solenoid Valve

Abstract: This paper presents a new predictive hybrid control law for the control of pneumatic teleoperation system using solenoid valves. Based on a predictive model of the mass flow rate of the valves, this method is used in a four-channel bilateral control architecture for teleoperation. An analysis of the parameter controllers is carried out in order to achieve acceptable performances. The simulation results show that a good accuracy for position and force tracking of a teleoperation system is obtained.