Event-Based Adaptive Sliding-Mode Containment Control for Multiple Networked Mechanical Systems With Parameter Uncertainties
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Bibliographic record
Abstract
The issue related to distributed containment control for multiple networked mechanical systems with inherent nonlinearities, dynamic leaders, unknown external disturbances, parameter uncertainties, and constrained network communication is investigated by designing distributed adaptive event-triggered sliding-mode controllers in this study. To lessen the number of state updates and network resource loss of networked mechanical systems, a time-varying-threshold-based adaptive event-triggered mechanism is constructed. An adaptive sliding-mode estimator is established to estimate the inaccurate states. Then, integrated with the aforementioned event-triggered strategy and adaptive sliding-mode estimator, discontinuous and continuous distributed adaptive event-triggered sliding-mode control laws without requiring each follower to get the upper bounds of the leaders’ states derivatives are, respectively, devised to compensate for the influences of nonlinearities, disturbances, and parameter uncertainties. To further attenuate the negative effects of unknown disturbances, inherent nonlinearities, and chattering, a distributed adaptive event-triggered sliding-mode control protocol with boundary layer function is designed. Eventually, the Lyapunov stability theory is utilized to testify that the adaptive error and containment error are uniformly ultimately bounded. A practical example is furnished to verify the validity of the present sliding-mode containment control strategies. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —This work aims to develop the distributed containment control approach for multiple networked nonlinear mechanical systems, which is of great significance in the fields of deep space exploration, environment monitoring and joint rescue. We put forward an event-based adaptive estimation and containment control framework for multiple networked nonlinear mechanical systems, which solves practical problems such as transmission frequency, limited computation capability, and network resources. An adaptive sliding-mode estimator and adaptive event-triggered mechanism are, respectively, devised to estimate the inaccurate states and reduce data transmission frequency. Despite the effects of communication interruption and unknown disturbances, an event-triggered adaptive control protocol based on sliding-mode estimator is designed, which is applied to a planar manipulator with two degree-of-freedom.
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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 | 0.001 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.001 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| 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