Connectivity-Preserving Synchronization of Time-Delay Euler–Lagrange Networks With Bounded Actuation
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Bibliographic record
Abstract
This paper proposes a strategy to overcome the threats posed to connectivity-preserving synchronization of Euler-Lagrange networks by time-varying delays and bounded actuation. It first introduces a suitable distributed negative gradient plus damping injection controller, based on which it establishes that the local connectivity of time-delay Euler-Lagrange networks can be preserved by appropriately regulating the interagent connections and increasing the damping injection locally. Yet, actuator saturation may impede the proper modulation of the interagent connections and the injection of sufficient damping and, thus, may threaten the maintenance of connectivity. This paper then develops an indirect coupling control framework which integrates the bounded actuation constraints into the control design. The framework endows every agent with a virtual proxy and couples initially adjacent agents through their virtual proxies. The interproxy couplings then tackle the time-varying delays while the agent-proxy couplings account for the saturation of actuators. Lyapunov-Krasovskii analysis proves that the indirect coupling strategy can drive time-delay Euler-Lagrange networks with bounded actuation to connectivity-preserving synchronization by limiting the energy of the agent-proxy and interproxy couplings according to the actuation constraints. Experiments with Geomagic Touch haptic robots validate the proposed designs compared to a conventional proportional plus damping controller.
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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 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 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