Model-free Control of Manipulator in Task Space Containing Mismatched Uncertainty
Bibliographic record
Abstract
Abstract In this paper, a novel trajectory tracking control method for manipulator task space containing mismatched uncertainty is proposed. This paper considers the mismatched uncertainty that exists in the signal conversion between joint space and task space in the robotic arm system. The time delay estimation is employed to approximate the dynamic and kinematic parameters of the system to achieve model-free control. The time delay estimation errors is treated as part of the system disturbances and a disturbance observer based on an auxiliary control system capable of estimating both matched and mismatched disturbances is designed, which does not require additional design of adaptive laws to compensate for disturbances or upper bounds on the derivatives of disturbances. We transform the control error by a prescribed performance function to accomplish transient control of the error, and design a fast terminal sliding surface for the virtual control variables based on the backstepping design method to improve the convergence speed of the controller. Based on the Lyapunov criterion, the closedloop stability of the whole system is demonstrated. The feasibility and superiority of the method in this paper is demonstrated by numerical simulation compared with other control methods.
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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 | 0.002 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.001 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.001 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.002 |
| 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".