Compensation of teleoperator modeling uncertainties with a sliding mode controller

Tzafestas, SG; Prokopiou, PA

dc.contributor.author	Tzafestas, SG	en
dc.contributor.author	Prokopiou, PA	en
dc.date.accessioned	2014-03-01T01:12:41Z
dc.date.available	2014-03-01T01:12:41Z
dc.date.issued	1997	en
dc.identifier.issn	0736-5845	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/12207
dc.subject	Model Error	en
dc.subject	Model Uncertainty	en
dc.subject	Sliding Mode	en
dc.subject	Sliding Mode Controller	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.classification	Engineering, Manufacturing	en
dc.subject.classification	Robotics	en
dc.subject.other	Computer simulation	en
dc.subject.other	Control systems	en
dc.subject.other	Errors	en
dc.subject.other	Feedback	en
dc.subject.other	Industrial robots	en
dc.subject.other	Robotics	en
dc.subject.other	Robustness (control systems)	en
dc.subject.other	Man machine cooperation	en
dc.subject.other	Sliding mode controller	en
dc.subject.other	Teleoperator system	en
dc.subject.other	Uncertainties	en
dc.subject.other	Man machine systems	en
dc.title	Compensation of teleoperator modeling uncertainties with a sliding mode controller	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/S0736-5845(96)00030-0	en
heal.identifier.secondary	http://dx.doi.org/10.1016/S0736-5845(96)00030-0	en
heal.language	English	en
heal.publicationDate	1997	en
heal.abstract	The response of a previously proposed teleoperator system, which was not based on the traditional notion of telepresence but on an original form of kinesthetic feedback, is tested under modeling errors of up to 50%. The original system is enhanced by replacing the previous controller of each robot with a sliding mode robust one. A two-stage approach is employed: a desired trajectory is first generated and then tracked by the controller. The difficulties incurred for the man/machine cooperation are discussed. This extension of the original teleoperator architecture is tested through simulations and compared with a twin system based on neural controllers, presented elsewhere. © 1997 Elsevier Science Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Robotics and Computer-Integrated Manufacturing	en
dc.identifier.doi	10.1016/S0736-5845(96)00030-0	en
dc.identifier.isi	ISI:A1997WY34100002	en
dc.identifier.volume	13	en
dc.identifier.issue	1	en
dc.identifier.spage	9	en
dc.identifier.epage	20	en