Design of a Single-Master/Multi-Slave Nonlinear Teleoperation System through State Convergence with Time Varying Delays
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Bibliographic record
Abstract
This paper presents the design of a nonlinear teleoperation system which is comprised of a single master and multiple slave (SM/MS) units.The interaction between these units follows the extended state convergence architecture which allows multiple linear master units to influence multiple linear slave units.However, in this study, the nonlinear dynamics of the master and slave units is considered and the resulting nonlinear teleoperation system is analyzed in the presence of time delays.To be specific, the following objectives are defined: (i) the nonlinear teleoperation remains stable in the presence of time varying delays, (ii) the slave units follow the position commands of the master unit and (iii) the operator receives a force feedback proportional to the interaction forces of the slaves with their environments.Towards this end, Lyapunov-Krasovskii theory is utilized which provides guidelines to select the control gains of the extended state convergence architecture such that the aforementioned objectives are achieved.The efficacy of the proposed scheme is finally verified through simulations in MATLAB/Simulink environment by considering a two degrees-of-freedom (DoF) singlemaster/tri-slave nonlinear teleoperation system.
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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)
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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