Fractional‐order adaptive non‐singular fast terminal sliding mode control with time delay estimation for robotic manipulators
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Bibliographic record
Abstract
In this study, an adaptive fractional‐order non‐singular fast terminal sliding mode (FO‐NFTSM) scheme based on time delay estimation (TDE) is proposed for the control of robotic manipulators. A new FO‐NFTSM surface with a continuous TSM‐type switch item is designed to ensure good performance, such as fast finite‐time convergence, high precision and being non‐singular. The chattering problem is solved by introducing a saturation function into the control signal. The TDE element is used to estimate the robot's unknown dynamic parameters and external disturbances. The Lyapunov stability theory is used to prove the finite‐time stability of the control system. The proposed control algorithm is applied to a two‐link robotic manipulator and the comparative results verify the effectiveness and superiority of the proposed control approach in comparison with existing control methods.
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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