Distributed Robust Finite-Time Containment Control of Euler-Lagrange Systems
Why this work is in the frame
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Bibliographic record
Abstract
This paper considers the distributed finite-time containment control problem for multi-agent systems (MASs) with double-integrator leaders and Euler-Lagrange (EL) followers. A novel distributed fast non-singular terminal sliding mode controller (FNTSMC) is proposed to drive the followers to the convex hull specified by the leaders. Specifically, the proposed controller is based on a newly-defined fast sliding surface that switches between a linear sliding surface when the system states are far from the origin to improve the convergence speed, and a terminal sliding surface when the system states are near the origin to ensure finite-time convergence. Controller parameters are designed based on finite-time convergence theory to ensure the overall system convergence. Lastly, the developed containment control protocol is validated using simulations of a group of two virtual leaders and four two-degree-of-freedom (2-DOF) manipulator followers.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| 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