Robust regulation of a flexi-link manipulator based on a new modeling approach
Bibliographic record
Abstract
A new methodology for modeling a flexible-link manipulator with an arbitrarily large (infinite) number of deflection modes is presented where dynamics representing flexibility is treated as uncertainty. The synthesis is performed based on only the certain dynamics of the manipulator. In other words, the proposed approach to modeling actually characterizes, in some sense, a reduced-order model of the system. It is shown that the uncertainty treated in this way is norm-bounded. Control of the tip position is pursued by utilizing the multi-objective H/sub /spl infin// technique on the certain part of the dynamics. Robust regulation is obtained by minimizing the influence of the uncertainty on the tip position. The proposed strategy is applied to a single-link flexible arm and the simulation results verify the effectiveness of the analysis and design. Specifically, it is shown that by using the proposed scheme regulation of the tip position as achieved in a stable manner however by using the standard approach instability of the tip position occurs.
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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".