Robotic Manipulator Control Using PD-type Fuzzy Iterative Learning Control
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Bibliographic record
Abstract
In this paper, a single arm planar manipulator robot with a moving platform is controlled based on PD-type Fuzzy Iterative Learning Control (ILC). The manipulator robot is modeled based on the Euler Lagrange equation, and the Multi-Input-Multi-Output (MIMO) nonlinear model is obtained for simulation. The DC motor torque and horizontal force for moving platform are system inputs, and position of the moving platform and robot arm are system outputs. The linearized state-space linear model of the robot is obtained for analyzing stability and convergence of proposed controller. The results of comparing the proposed PD-type fuzzy ILC controller to P-type, PD-type, and P-type Fuzzy ILC illustrate fast and accurate reference tracking the performance of this proposed 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) | 0.001 | 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 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 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 it