Second order sliding mode with time delay control for uncertain robot manipulators
Why this work is in the frame
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Bibliographic record
Abstract
This paper proposes a second order sliding mode combined with time delay controller to track a desired trajectory for robot manipulators with unknown dynamics and external disturbances. The motivation for using second order sliding mode (SOSM) mainly relies on its appreciable features, such as high precision and elimination of chattering in addition that it ensures robustness. However, the SOSM problem is that the unknown dynamics and the disturbances may be amplified, which makes the system unstable. Then, using the time delay allows to benefit from the robustness of the second order sliding mode while reducing its major drawback. The stability and the robustness of the proposed controller is verified by using the classical Lyapunov criterion. The proposed controller is implemented in real time on the seven-degrees-of-freedom (7-DOF) ANAT robot arm and compared with the sliding mode with time delay control (SMTDC) to prove its superiority.
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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