Bilateral Control and Stabilization of Asymmetric Teleoperators With Bounded Time-Varying Delays
Bibliographic record
Abstract
A novel control scheme for asymmetric bilateral teleoperation systems is developed based on linear models of the hardware, with considerations in the existence of communication time delays. The master and slave manipulators were modeled as linear single degree of freedom systems. The human user force was modeled based on the band limited availability of human motion, and the environmental force was modeled as a spring and damper combination based on the slave position. The configuration of the whole system represents a relatively general framework for the teleoperation systems. The main contribution of the work can be concluded as follows. First to deal with asymmetric systems in teleoperation, an impedance matching approach was applied to the master side dynamics, while a static error feedback gain was used to stabilize the slave side dynamics. Second, in the existence of bounded random time-varying delays, approaches and techniques based on the Lyapunov method proposed for network controlled systems are now proposed for bilateral teleoperation systems. Specifically, a Lyapunov functional is proposed with consideration for the upper and lower bound of random delays. Linear matrix inequality (LMI) techniques are used with rigorous stability proof to design the slave side controller control gains. Furthermore, the cone complementarity algorithm is used to deal with nonlinear terms within the LMI under the new formulation. Finally, the applications of the proposed algorithm to haptic devices are described thoroughly, and experimental results with comparisons to simulation results are demonstrated to show the effectiveness of the proposed approach.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 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 source (direct Gemma or distilled Codex), 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".