Global finite‐time cooperative control for multiple manipulators using integral sliding mode control
Bibliographic record
Abstract
Abstract In this paper, a global finite‐time cooperative control is first time proposed for cooperative multiple manipulators. The proposed control scheme is developed based on an integration between a finite‐time disturbance observer (FTDO) and a finite‐time integral sliding mode controller (FTISMC) to get a high robustness against the effects of the model uncertainties and disturbances in the system. The switching term of the integral sliding mode controller is reconstructed such that the desired sliding manifold can be convergent in a finite time. The nominal controller of the integral sliding mode control is developed based on an advanced backstepping control, namely, finite‐time backstepping control, which also provides a finite time convergence. The integration of the finite‐time disturbance observer, finite‐time switching term, and the finite‐time backstepping controller forms a new global finite‐time integral sliding mode control. The effectiveness of the proposed approach is demonstrated based on a cooperative control of a dual two‐link manipulators.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.001 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.001 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.001 | 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 source (direct Gemma or distilled Codex), 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".