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Article

Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis

1
Fluid Power and Telerobotics Research Laboratory, University of Manitoba, Winnipeg, MB R3T 5V6, Canada
2
Department of Mechanical Engineering, University of Manitoba, Winnipeg, MB R3T 5V6, Canada
3
Microsat Systems Canada Inc., Mississauga, ON L4V 1P1, Canada
4
Department of Mechanical Engineering, University of North Dakota, Grand Forks, ND 58202-8359, USA
*
Author to whom correspondence should be addressed.
Actuators 2020, 9(4), 103; https://doi.org/10.3390/act9040103
Received: 29 August 2020 / Revised: 4 October 2020 / Accepted: 10 October 2020 / Published: 14 October 2020
(This article belongs to the Special Issue Pneumatic, Hybrid Pneumatic–Electric, and Vacuum-Powered Actuators)
Implementation, experimental evaluation and stability analysis of an admittance-controlled teleoperated pneumatic system is presented. A master manipulator navigates a pneumatic slave actuation, which interacts with a human arm as an environment. Considering the external force in the position control loop in the admittance control, enables the slave to handle the external force independent of the master. The proposed control system is evaluated experimentally using the admittance models with different settings. Stability of the control system is analyzed using the concept of Lyapunov exponents. Parametric stability analysis is conducted to show the effect of changing system parameters on stability. View Full-Text
Keywords: admittance control; sliding mode control; pneumatic actuator; stability analysis; Lyapunov exponents admittance control; sliding mode control; pneumatic actuator; stability analysis; Lyapunov exponents
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MDPI and ACS Style

Garmsiri, N.; Sun, Y.; Sekhavat, P.; Yang, C.X.; Sepehri, N. Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis. Actuators 2020, 9, 103. https://doi.org/10.3390/act9040103

AMA Style

Garmsiri N, Sun Y, Sekhavat P, Yang CX, Sepehri N. Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis. Actuators. 2020; 9(4):103. https://doi.org/10.3390/act9040103

Chicago/Turabian Style

Garmsiri, Naghmeh, Yuming Sun, Pooya Sekhavat, Cai X. Yang, and Nariman Sepehri. 2020. "Admittance-Controlled Teleoperation of a Pneumatic Actuator: Implementation and Stability Analysis" Actuators 9, no. 4: 103. https://doi.org/10.3390/act9040103

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