Hierarchical adaptive control for 3 DOF manipulator using sliding mode technique
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Bibliographic record
Abstract
In this paper, two nonlinear controllers for a hyper redundant articulated nimble adaptable trunk (ANAT) robot are presented. These controllers are based on sliding mode technique. The control strategy consists of controlling the last joint by assuming that the remaining joints follow their desired values. Then we apply backward the same strategy to the (n-1)-th joint, and so on until the first joint. First, we assume that the model parameters are perfectly known. A nonlinear controller based on sliding mode technique is then developed. Second, an adaptive version of the nonlinear controller is proposed. The asymptotical stability is proved using the well-known Lyapunov theory. Simulations are presented that show effective results and good tracking.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it