A Novel Control Design of Bilateral Teleoperation System with Fuzzy Logic based General Environments
Bibliographic record
Abstract
In this paper, a novel adaptive robust sliding mode control(ARSMC) design is proposed for bilateral teleoperation system to achieve simultaneous stability and good transparency performance under communication delays, nonlinearities and uncertainties. For the environment force, the fuzzy logic system is used to model the environments with the general form, and the non-power environment parameters are identified and transmitted to the master side for the environment force estimation, which avoid the stability problem in the traditional teleoperation system. For both master and slave subsystems, the reference trajectory generators are designed, and the ARSMC approach is employed after-wards to design the controllers in view of nonlinearities and uncertainties. Therefore, the global stability of the bilateral teleoperation system under communication delays is theoretically guaranteed, while the good transparency performance with both position tracking and force feedback is achieved. The simulation is carried out, and the results verifies the effectiveness of the proposed ARSMC design.
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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".