Extended state observer–based improved non-singular fast terminal sliding mode for mobile manipulators
Why this work is in the frame
A frame that forgets how it found something cannot be audited. These are the routes that admitted this work.
Bibliographic record
Abstract
The robust non-singular fast terminal sliding mode (NFTSM) controller is adopted in this work to solve the problem of tracking trajectory of a mobile manipulator (MM) suffering from uncertainties. The NFTSM method has the capability to ensure convergence rate and to provide good tracking accuracy and robustness against external perturbations and parameter uncertainties (total disturbances). However, the NFTSM controller needs high discontinuous gain to reject the effect of strong disturbances, which results in vibrations in the steady-state and chattering in the control law. To solve these issues, an extended state observer–based NFTSM technique is proposed for [Formula: see text]-degree of freedom (DoF) coupling MM. The proposed method is designed to approximate and compensate in real-time the uncertainties. It also ensures robustness against total disturbances, good convergence rate, and good tracking accuracy. The stability of the proposed control is also verified based on the Lyapunov theory. Experimental works are conducted on a 5-degree-of-freedom (5-DoF) MM where the results obtained demonstrate the effectiveness of the developed technique and prove the stability of the closed-loop system.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
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