Improved tracking and switching performance of an electro-pneumatic positioning system

Oura M, Kobayashi Y, Okamoto J, Fujie M. Development of MRI compatible versatile manipulator for minimally invasive surgery. in: Proceedings of 2006 first IEEE/RAS-EMBS international conference on biomedical robotics and biomechatronics, Tuscany, Italy; 2006. p. 176–81. Uecker, 2010, Real-time MRI at a resolution of 20ms, NMR Biomed, 23, 986, 10.1002/nbm.1585 Li M, Mazilu D, Horvath KA. Robotic system for transapical aortic valve replacement with MRI guidance. in: Proceedings of 2008 international conference on medical image computing and computer-assisted intervention, New York, United States; 2008. p. 476–84. Larson, 2004, Design of an MRI-compatible robotic stereotactic device for minimally invasive interventions in the breast, J Biomech Eng, 126, 458, 10.1115/1.1785803 Yu, 2008, Comparison of MRI-compatible mechatronic systems with hydrodynamic and pneumatic actuation, IEEE/ASME Tran Mech, 13, 268, 10.1109/TMECH.2008.924041 Hempel, 2003, An MRI-compatible surgical robot for precise radiological interventions, Comput Aided Surg, 8, 180, 10.3109/10929080309146052 Rosas-Flores JA, Flores-Campos JA, Corona-Ramı´rez LG. Optimal linearization of the dynamic behavior of an on/off actuated single pneumatic cylinder. in: Proceedings of 2008 5th international conference on electrical engineering, computing science and automatic control (CCE 2008), Mexico City; 2008. p. 380–5. Girin, 2006, High-order sliding-mode controllers of an electropneumatic actuator: application to an aeronautic benchmark, Int J Control, 79, 119, 10.1080/00207170500472883 Xing, 2010, Tracking control of pneumatic artificial muscle actuators based on sliding mode and non-linear disturbance observer, IET Control Theory Appl, 4, 2058, 10.1049/iet-cta.2009.0555 Lee, 2002, A study on tracking position control of pneumatic actuators, Mechatronics, 12, 813, 10.1016/S0957-4158(01)00024-1 Shen, 2006, Nonlinear model-based control of pulse width modulated pneumatic servo systems, J Dyn Syst, Meas, Control, 128, 663, 10.1115/1.2232689 Le M, Pham M, Tavakoli M, Moreau R. Sliding mode control of a pneumatic haptic teleoperation system with on/off solenoid valves. in: Proceedings of 2011 IEEE international conference on robotics and automation (ICRA), Shanghai, China ;2011. Messina, 2005, Experimenting and modelling the dynamics of pneumatic actuators controlled by the pulse width modulation (PWM) technique, Mechatronics, 15, 859, 10.1016/j.mechatronics.2005.01.003 Ahn, 2005, Intelligent switching control of pneumatic actuator using on/off solenoid valves, Mechatronics, 15, 683, 10.1016/j.mechatronics.2005.01.001 Shih, 1998, Position control of a pneumatic cylinder using fuzzy PWM control method, Mechatronics, 8, 241, 10.1016/S0957-4158(98)00005-1 Taghizadeh M, Ghaffari A, Najafi F. Improving dynamic performances of PWM-driven servo-pneumatic systems via a novel pneumatic circuit. ISA Transactions. Nguyen, 2007, Accurate sliding-mode control of pneumatic systems using low-cost solenoid valves, IEEE/ASME Trans Mech, 12, 216, 10.1109/TMECH.2007.892821 Utkin, 1993, Sliding mode control design principles and applications to electric drives, IEEE Trans Ind Elect, 40, 23, 10.1109/41.184818 Utkin, 2002, Sliding mode control on electro-mechanical systems, Math Probl Eng, 8, 451, 10.1080/10241230306724 Le M, Pham M, Moreau R, Redarce T. Transparency of a pneumatic teleoperation system using on/off solenoid valves. in: Proceedings of 2010 19th IEEE international symposium on robot and human interactive communication, Viareggio, Italy; 2010. p. 15–20. Beater, 2006