Novel adaptive robust L<sub>1</sub>‐based controllers for teleoperation systems with uncertainties and time delays
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Bibliographic record
Abstract
Abstract Despite various proposed control schemes for uncertain bilateral teleoperation systems under time delays, optimally restricting the system's overshoot has remained an overlooked issue in this realm. For this aim, we propose two novel control architectures based on robust L 1 theory, entitled position‐based adaptive L 1 controller and transparent adaptive L 1 controller , with the former focusing on position synchronization and the latter concerning system transparency. Since developing L 1 ‐based controllers for nonlinear telerobotic systems encompassing uncertainty and round‐trip delays puts significant theoretical challenges forward, the main contribution of this paper lies in advancing L 1 theory within the field of delayed teleoperation control. To formulate the theories, the asymptotic stability of the closed‐loop system for each controller is first proved utilizing the Lyapunov method, followed by transformation, along with the L 1 performance criterion, into linear matrix inequalities. Ultimately, the control gains are attained by solving a convex optimization problem. The superiority of the designed controllers over a benchmark transparent controller for teleoperators is demonstrated via simulation. Furthermore, experimental tests on a two‐degrees‐of‐freedom nonlinear telerobotic system validate the efficient performance of the proposed controllers.
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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