Collaborative control of circumferential yarn implantation system for large-scale 3D braiding equipment using fast nonsingular terminal sliding mode
Bibliographic record
Abstract
To ensure high performance collaborative control of the circumferential yarn implantation system for a specific large-scale 3D braiding equipment, a multi-motor fast nonsingular terminal sliding mode (FNTSM) controller is proposed using time-delay estimation (TDE) and deviation coupling control (DCC). Then, comparative experiments were conducted among our proposed TDE-based FNTSM controller and PD controller and TDE-based PD controller. As shown in the experimental results, the root-mean-square error (RMSE) and maximum absolute error (MAE) ensured by our FNTSM controller tracking sine signal have decreased by 89.4% and 67.1% compared with the ones by PD controller, while the RMSE of our FNTSM controller tracking slope signal is ensured within 0.03°. Meanwhile, the RMSE and MAE of our FNTSM controller tracking sine signals have been reduced by 48.2% and 56.9% due to DCC, respectively. Afterwards, less than 3% error fluctuation has been observed with load using our FNTSM controller. High control performance and strong robustness have been experimentally observed.
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How this classification was reachedexpand
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 | 0.000 |
| 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 itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, 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".