Finite-Time Synchronization Control for Bilateral Teleoperation Systems With Asymmetric Time-Varying Delay and Input Dead Zone
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Bibliographic record
Abstract
In this article, the synchronization control problem of bilateral teleoperation systems with time-varying delays and input dead zones is addressed. A novel radial basis function network (RBFN)-based adaptive finite-time synchronization control scheme is proposed, where system uncertainties, asymmetric time-varying delays, and dead-zone phenomena are considered simultaneously. Specifically, an RBFN is designed to approximate system uncertainties and unknown nonlinearities. The approximation error as well as the time-associated uncertainty and the nonlinear margin of the dead zone is compensated by an adaptive compensator. Using a Lyapunov-Krasovskii function and the finite-time stability criteria, the system is proved to be semiglobally practically finite-time stable. The theoretical analysis is given to prove the stability of the closed-loop system. The tracking performance of the designed controller is demonstrated by comparative simulation studies and experiment results.
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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