Delay-Robust Nonlinear Control of Bounded-Input Telerobotic Systems With Synchronization Enhancement
Bibliographic record
Abstract
This letter puts forward a novel controller for joint position tracking of bilateral teleoperation systems subjected simultaneously to time-varying communication delays and bounded actuation. Enhancing such systems' robustness to the larger time delays comes prevalently at the cost of increased settling time for position synchronization. To this end, we propose a general and refined form of nP+D controller that not only mitigates the trade-off between settling time of synchronization and magnitude of time-delay but also exhibits better transient error in position convergence. These advantages are brought along through using capped joint-velocity in the controller, which offers a blessing in disguise in our presented Lyapunov-based stability analysis and allows disposing of the limitation that was originally considered on the nonlinear function's amplitude in previous nP+D controllers. We have shown that by setting conditions on the controller parameters obtained from the analytical study, the closed-loop dynamics' asymptotic stability is ensured. The proposed controller's efficacy and outperformance are validated through numerical simulations and experimental evaluations on a bilateral teleoperation system with multi-DOF robots as the leader and follower.
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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".