A Time-Delayed Multi-Master-Single-Slave Non-Linear Tele-Robotic System Through State Convergence
Bibliographic record
Abstract
This paper presents the design of a multi-master-single-slave nonlinear tele-robotic system working in the presence of time varying delays. The structure of the proposed tele-robotic system is derived from the extended state convergence architecture and the control objective is defined as the position regulation of the slave manipulator. The desired reference value for the slave manipulator is set by the master systems according to their authority levels. To ensure that the tele-robotic system remains stable in the presence of time varying delays and the control objective is also achieved, Lyapunov-based stability analysis is carried out which results in certain guidelines to be followed for the selection of the control gains. In order to check the validity of the proposed scheme, MATLAB simulations are performed on a two degrees-of-freedom nonlinear tele-robotic system containing three master and single slave manipulators. Simulation results suggest that the proposed scheme is viable and can be deployed to control a class of multilateral nonlinear tele-robotic systems.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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 | 0.001 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.000 | 0.001 |
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".