Variable-Gains Bi-Power Reaching Law of SMC with Terminal Model-Based Switching Surfaces for a 7-DoF Exoskeleton Robot
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Bibliographic record
Abstract
This paper deals with the problem of robust trajectory tracking of a robot interacting with a human and subject to uncertainties and the problem of chattering in sliding mode. Indeed, a new controller for robotic manipulator systems using terminal model-based sliding manifolds is proposed. Moreover, a bi-power reaching law with variable-gains is designed to reduce the phenomenon of chattering and to ensure fixed-time stability of the exoskeleton robot trajectories into the sliding manifolds. The chattering is not reduced thanks to the new reaching law only but also thanks to the designed model-based sliding manifolds that allow a decoupled control inputs. The proposed controller is experimentally implemented on an upper-limb rehabilitation exoskeleton robot with seven rotary joints. A Comparison study with super-twisting second-order sliding mode is also presented to show the effectiveness of the developed technique.
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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)
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