Wave Variable Sliding Mode Control Design for Bilateral Tele-Operation Systems using Haptic Interfaces
Bibliographic record
Abstract
Wave transformation is an attractive method for tele-operation systems subject to significant time delays. The proposed method can maintain passivity of the communication channel regardless of the amount of delay. However, this method can potentially introduce position-tracking errors. The position tracking performance can become seriously unsatisfactory when the delay is time varying. Sliding mode control is an effective robust technique that is particularly useful when one considers tracking control problems with presence of uncertainties and disturbances. The control objective is to force the system dynamics to approach a sliding surface and to remain on it for all future time in order to eliminate or minimize tracking errors. In this paper, a randomly time varying delay is considered in the tele-operation system. A sliding mode controller is designed to ensure a precise position tracking control of the slave side to the master's command in a bilateral tele-operation system operating in a virtual environment using a haptic interface.
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How this classification was reachedexpand
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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".